# 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: 2009MBCanyon_1v3.rte # Mission File: 2009MBCanyon_1v3.cfg # Distance: 85060.716043 (m) # Estimated Time: 60121 (s) 16.700 (hr) # Abort Time: 61200 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1957 (s) # Way Points: 88 # Route Points: 1119 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1905.40018 (m) # Abort Vehicle Depth: 1930.40018 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (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 -121.969017 36.731082 -117.864025 0.000000 3 # 1 -121.985488 36.733308 -529.026535 1491.387482 1 # 2 -122.002405 36.732418 -858.037018 3005.218477 1 # 3 -122.009973 36.730192 -1122.226349 3724.723815 1 # 4 -122.015463 36.727817 -1278.940735 4281.293803 3 # 5 -122.009676 36.721585 -1384.608398 5144.473677 1 # 6 -122.010121 36.718914 -1416.771851 5443.444276 1 # 7 -122.011902 36.714462 -1452.514099 5962.326215 1 # 8 -122.013238 36.710455 -1432.367432 6422.594607 1 # 9 -122.015315 36.706152 -1473.978455 6934.746412 1 # 10 -122.018134 36.702887 -1517.307587 7375.891763 1 # 11 -122.021548 36.699920 -1540.990448 7824.615339 1 # 12 -122.028670 36.696358 -1572.715149 8573.586414 1 # 13 -122.043806 36.693242 -1627.046539 9969.300752 1 # 14 -122.058942 36.693242 -1664.450439 11321.552947 1 # 15 -122.078679 36.696655 -1777.521576 13125.008014 1 # 16 -122.086543 36.699474 -1819.163574 13893.993658 1 # 17 -122.094111 36.697249 -1829.916748 14613.720269 1 # 18 -122.110433 36.718912 -1654.682587 17424.588592 4 # 19 -122.115132 36.716587 -1670.849365 17917.184374 3 # 20 -122.096639 36.692353 -1804.173065 21072.574051 4 # 21 -122.096041 36.696210 -1848.160736 21503.778217 3 # 22 -122.110583 36.688345 -1918.404144 23068.760667 4 # 23 -122.111473 36.689680 -1891.633179 23236.856861 3 # 24 -122.082982 36.703926 -1797.356781 26232.849142 4 # 25 -122.084911 36.704668 -1807.039093 26423.812500 3 # 26 -122.111919 36.691016 -1884.068909 29272.497933 4 # 27 -122.112067 36.693094 -1898.624817 29503.402030 3 # 28 -122.086543 36.705262 -1807.812683 32153.141651 4 # 29 -122.088473 36.706004 -1812.308228 32344.182807 3 # 30 -122.112512 36.694429 -1888.925049 34846.253897 4 # 31 -122.112809 36.695913 -1888.944275 35013.007569 3 # 32 -122.090105 36.706597 -1813.188965 37362.091627 4 # 33 -122.091886 36.707488 -1805.142395 37549.383810 3 # 34 -122.113254 36.697249 -1878.109497 39770.565373 4 # 35 -122.113403 36.698881 -1874.388947 39952.101863 3 # 36 -122.093666 36.707933 -1805.893066 41981.087413 4 # 37 -122.096046 36.708544 -1801.778595 42204.218477 3 # 38 -122.113254 36.700365 -1860.393097 43989.167119 4 # 39 -122.113403 36.701997 -1845.203156 44170.703664 3 # 40 -122.096925 36.709696 -1776.657562 45872.453530 4 # 41 -122.097804 36.710848 -1756.318115 46022.442670 3 # 42 -122.113848 36.703333 -1824.531555 47680.397997 4 # 43 -122.114293 36.704668 -1783.359192 47833.739708 3 # 44 -122.098683 36.712000 -1755.437042 49447.959577 4 # 45 -122.099563 36.713152 -1758.858734 49597.994257 3 # 46 -122.114293 36.706004 -1792.519348 51134.172631 4 # 47 -122.114540 36.707329 -1787.458160 51282.809824 3 # 48 -122.100442 36.714304 -1752.854462 52760.770568 4 # 49 -122.101321 36.715456 -1718.940094 52910.757244 3 # 50 -122.115419 36.708481 -1755.581329 54388.701819 4 # 51 -122.116298 36.709633 -1733.243774 54538.691097 3 # 52 -122.102200 36.716608 -1697.510468 56016.619503 4 # 53 -122.103079 36.717760 -1692.074127 56166.604947 3 # 54 -122.117178 36.710785 -1707.455902 57644.593281 4 # 55 -122.118057 36.711937 -1680.150909 57794.581327 3 # 56 -122.103959 36.718912 -1674.351654 59272.477396 4 # 57 -122.104838 36.720064 -1658.426208 59422.461608 3 # 58 -122.118936 36.713089 -1666.043152 60900.341508 3 # 59 -122.090550 36.698584 -1831.968018 63903.411603 3 # 60 -122.081350 36.702887 -1797.015289 64853.833260 3 # 61 -122.076898 36.701107 -1783.540924 65297.854556 1 # 62 -122.060278 36.697249 -1717.449005 66843.026321 1 # 63 -122.044252 36.695468 -1640.784546 68288.302149 1 # 64 -122.030006 36.698584 -1577.699921 69607.093877 1 # 65 -122.022438 36.701255 -1531.181183 70345.250062 1 # 66 -122.020212 36.704371 -1508.058746 70744.044838 1 # 67 -122.018580 36.707339 -1494.352051 71104.138003 1 # 68 -122.016354 36.711791 -1461.808594 71636.555384 1 # 69 -122.015018 36.714907 -1449.271851 72002.255788 1 # 70 -122.013534 36.721288 -1418.770355 72722.455495 4 # 71 -122.011457 36.721140 -1408.625702 72908.674305 3 # 72 -122.012347 36.718023 -1429.135040 73263.488016 1 # 73 -122.013534 36.714610 -1451.340485 73656.683325 1 # 74 -122.015018 36.710901 -1458.190247 74088.976323 1 # 75 -122.017096 36.706597 -1501.083679 74601.263358 1 # 76 -122.019322 36.703481 -1522.616364 75000.055625 1 # 77 -122.022141 36.700662 -1536.685425 75401.574616 1 # 78 -122.029264 36.697545 -1580.243591 76125.786016 1 # 79 -122.043955 36.694429 -1642.532806 77482.999458 1 # 80 -122.058942 36.694577 -1712.134857 78822.018750 1 # 81 -122.078085 36.698139 -1792.255249 80577.242192 1 # 82 -122.084318 36.700365 -1812.195129 81186.356383 4 # 83 -122.081795 36.701552 -1803.613129 81447.386815 3 # 84 -122.075414 36.699474 -1777.542694 82062.259698 1 # 85 -122.058942 36.695913 -1707.059967 83585.886127 1 # 86 -122.048852 36.695319 -1655.423706 84489.705328 1 # 87 -122.042471 36.695023 -1631.281189 85060.716043 4 # # A total of 1119 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1905.400180; abortDepth = 1930.400180; 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 = 1957; 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 87 # Segment length 84.477679 meters # Minimum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.281189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695023; longitude = -122.042471; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1581.281189; finalDepth = 1581.281189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1581.281189 # Seafloor depth:-1631.281189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum depth: 1643.051756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.281189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695026; longitude = -122.042545; captureRadius = 10; duration = 84; initialDepth = 1592.356454; finalDepth = 1581.281189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6990189999999 # Actual altitude: 51.6990189999999 # Commanded vehicle depth:1581.281189 # Seafloor depth:-1632.980208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1643.868751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695068; longitude = -122.043441; captureRadius = 10; duration = 84; initialDepth = 1592.356454; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6990189999999 # Actual altitude: 51.6990189999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1643.586046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695110; longitude = -122.044337; captureRadius = 10; duration = 84; initialDepth = 1594.937515; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2295919999999 # Actual altitude: 51.2295919999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1642.399710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1644.937515 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.937515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695151; longitude = -122.045234; captureRadius = 10; duration = 84; initialDepth = 1595.740354; finalDepth = 1594.937515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1594.937515 # Seafloor depth:-1646.865378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1645.740354 meters looking forward 100.000000 meters along route # Maximum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.740354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695193; longitude = -122.046130; captureRadius = 10; duration = 84; initialDepth = 1598.423071; finalDepth = 1595.740354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1595.740354 # Seafloor depth:-1646.328712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.423071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695234; longitude = -122.047026; captureRadius = 10; duration = 84; initialDepth = 1603.015119; finalDepth = 1598.423071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.835699 # Actual altitude: 50.835699 # Commanded vehicle depth:1598.423071 # Seafloor depth:-1649.258770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 84.477679 meters # Minimum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum depth: 1657.675477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.015119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695276; longitude = -122.047922; captureRadius = 10; duration = 84; initialDepth = 1605.183094; finalDepth = 1603.015119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1603.015119 # Seafloor depth:-1653.987159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 84.477679 meters # Minimum depth: 1655.183094 meters looking forward 100.000000 meters along route # Maximum depth: 1657.675477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.183094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695319; longitude = -122.048852; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1605.423706; finalDepth = 1605.183094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1605.183094 # Seafloor depth:-1655.423706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1655.423706 meters looking forward 100.000000 meters along route # Maximum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.423706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695330; longitude = -122.049043; captureRadius = 10; duration = 84; initialDepth = 1612.393209; finalDepth = 1605.423706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.534891 # Actual altitude: 50.534891 # Commanded vehicle depth:1605.423706 # Seafloor depth:-1655.958597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.393209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695383; longitude = -122.049939; captureRadius = 10; duration = 84; initialDepth = 1614.330813; finalDepth = 1612.393209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1612.393209 # Seafloor depth:-1663.120504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum depth: 1673.234849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.330813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695436; longitude = -122.050835; captureRadius = 10; duration = 84; initialDepth = 1622.875859; finalDepth = 1614.330813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1614.330813 # Seafloor depth:-1664.356862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1672.875859 meters looking forward 100.000000 meters along route # Maximum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.875859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695489; longitude = -122.051731; captureRadius = 10; duration = 84; initialDepth = 1624.308261; finalDepth = 1622.875859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542285 # Actual altitude: 50.542285 # Commanded vehicle depth:1622.875859 # Seafloor depth:-1673.418144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.308261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695541; longitude = -122.052628; captureRadius = 10; duration = 84; initialDepth = 1626.209100; finalDepth = 1624.308261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5652240000002 # Actual altitude: 50.5652240000002 # Commanded vehicle depth:1624.308261 # Seafloor depth:-1674.873485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.209100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695594; longitude = -122.053524; captureRadius = 10; duration = 84; initialDepth = 1632.900565; finalDepth = 1626.209100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7739369999999 # Actual altitude: 50.7739369999999 # Commanded vehicle depth:1626.2091 # Seafloor depth:-1676.983037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.900565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695647; longitude = -122.054420; captureRadius = 10; duration = 84; initialDepth = 1642.418462; finalDepth = 1632.900565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1632.900565 # Seafloor depth:-1684.222186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.418462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695700; longitude = -122.055316; captureRadius = 10; duration = 84; initialDepth = 1651.266226; finalDepth = 1642.418462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1642.418462 # Seafloor depth:-1693.252432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.266226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695752; longitude = -122.056212; captureRadius = 10; duration = 84; initialDepth = 1655.104456; finalDepth = 1651.266226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8339699999999 # Actual altitude: 50.8339699999999 # Commanded vehicle depth:1651.266226 # Seafloor depth:-1702.016652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum depth: 1707.693492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.104456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695805; longitude = -122.057109; captureRadius = 10; duration = 84; initialDepth = 1656.181082; finalDepth = 1655.104456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7504260000001 # Actual altitude: 50.7504260000001 # Commanded vehicle depth:1655.104456 # Seafloor depth:-1705.691458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 84.477679 meters # Minimum depth: 1706.181082 meters looking forward 100.000000 meters along route # Maximum depth: 1707.419437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.181082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695858; longitude = -122.058005; captureRadius = 10; duration = 84; initialDepth = 1656.681303; finalDepth = 1656.181082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587002 # Actual altitude: 50.587002 # Commanded vehicle depth:1656.181082 # Seafloor depth:-1706.405239 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 84.477679 meters # Minimum depth: 1706.681303 meters looking forward 100.000000 meters along route # Maximum depth: 1709.429781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.681303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1657.938588; finalDepth = 1656.681303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3786639999998 # Actual altitude: 50.3786639999998 # Commanded vehicle depth:1656.681303 # Seafloor depth:-1707.059967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1707.938588 meters looking forward 100.000000 meters along route # Maximum depth: 1717.295008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.938588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.059469; captureRadius = 10; duration = 84; initialDepth = 1666.559190; finalDepth = 1657.938588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5473489999999 # Actual altitude: 51.5473489999999 # Commanded vehicle depth:1657.938588 # Seafloor depth:-1709.485937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1716.559190 meters looking forward 100.000000 meters along route # Maximum depth: 1720.773137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.559190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.060303; captureRadius = 10; duration = 84; initialDepth = 1668.679242; finalDepth = 1666.559190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5473489999999 # Actual altitude: 51.5473489999999 # Commanded vehicle depth:1666.55919 # Seafloor depth:-1717.509537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1718.679242 meters looking forward 100.000000 meters along route # Maximum depth: 1726.081270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.679242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696389; longitude = -122.061142; captureRadius = 10; duration = 84; initialDepth = 1675.818737; finalDepth = 1668.679242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1668.679242 # Seafloor depth:-1720.825513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1725.818737 meters looking forward 100.000000 meters along route # Maximum depth: 1730.721628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.818737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.061970; captureRadius = 10; duration = 84; initialDepth = 1678.861161; finalDepth = 1675.818737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1675.818737 # Seafloor depth:-1726.078773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1728.861161 meters looking forward 100.000000 meters along route # Maximum depth: 1732.818895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.861161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696752; longitude = -122.062822; captureRadius = 10; duration = 84; initialDepth = 1682.594487; finalDepth = 1678.861161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1678.861161 # Seafloor depth:-1730.831506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1732.594487 meters looking forward 100.000000 meters along route # Maximum depth: 1741.203065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.594487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.063637; captureRadius = 10; duration = 84; initialDepth = 1690.156408; finalDepth = 1682.594487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1682.594487 # Seafloor depth:-1732.888063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1740.156408 meters looking forward 100.000000 meters along route # Maximum depth: 1744.169347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.156408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.064471; captureRadius = 10; duration = 84; initialDepth = 1692.376571; finalDepth = 1690.156408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4929119999999 # Actual altitude: 51.4929119999999 # Commanded vehicle depth:1690.156408 # Seafloor depth:-1741.649320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1742.376571 meters looking forward 100.000000 meters along route # Maximum depth: 1744.960960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.376571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.065305; captureRadius = 10; duration = 84; initialDepth = 1691.421407; finalDepth = 1692.376571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1692.376571 # Seafloor depth:-1744.227638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1741.421407 meters looking forward 100.000000 meters along route # Maximum depth: 1751.694444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.421407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.066138; captureRadius = 10; duration = 84; initialDepth = 1698.156223; finalDepth = 1691.421407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1691.421407 # Seafloor depth:-1741.912847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1748.156223 meters looking forward 100.000000 meters along route # Maximum depth: 1751.866076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.156223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.066972; captureRadius = 10; duration = 84; initialDepth = 1698.856713; finalDepth = 1698.156223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.156223 # Seafloor depth:-1751.710291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1748.856713 meters looking forward 100.000000 meters along route # Maximum depth: 1755.650933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.856713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.067806; captureRadius = 10; duration = 84; initialDepth = 1704.938274; finalDepth = 1698.856713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.856713 # Seafloor depth:-1749.737284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1754.938274 meters looking forward 100.000000 meters along route # Maximum depth: 1757.937806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.938274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698011; longitude = -122.068648; captureRadius = 10; duration = 84; initialDepth = 1707.033136; finalDepth = 1704.938274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8805710000001 # Actual altitude: 50.8805710000001 # Commanded vehicle depth:1704.938274 # Seafloor depth:-1755.658931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1757.033136 meters looking forward 100.000000 meters along route # Maximum depth: 1760.804765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.033136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.069473; captureRadius = 10; duration = 84; initialDepth = 1710.691785; finalDepth = 1707.033136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1707.033136 # Seafloor depth:-1758.276684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1760.691785 meters looking forward 100.000000 meters along route # Maximum depth: 1762.794704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.691785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698375; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1712.715977; finalDepth = 1710.691785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1710.691785 # Seafloor depth:-1760.831715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1762.715977 meters looking forward 100.000000 meters along route # Maximum depth: 1768.181400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.715977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.071141; captureRadius = 10; duration = 84; initialDepth = 1717.138806; finalDepth = 1712.715977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.13993 # Actual altitude: 50.13993 # Commanded vehicle depth:1712.715977 # Seafloor depth:-1762.715977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1767.138806 meters looking forward 100.000000 meters along route # Maximum depth: 1768.895170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.138806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.071974; captureRadius = 10; duration = 84; initialDepth = 1718.438012; finalDepth = 1717.138806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1717.138806 # Seafloor depth:-1768.604104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1768.438012 meters looking forward 100.000000 meters along route # Maximum depth: 1771.073607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.438012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698911; longitude = -122.072808; captureRadius = 10; duration = 84; initialDepth = 1720.898380; finalDepth = 1718.438012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1718.438012 # Seafloor depth:-1768.864492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1770.898380 meters looking forward 100.000000 meters along route # Maximum depth: 1774.692305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.898380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699101; longitude = -122.073689; captureRadius = 10; duration = 84; initialDepth = 1724.502676; finalDepth = 1720.898380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4264799999999 # Actual altitude: 50.4264799999999 # Commanded vehicle depth:1720.89838 # Seafloor depth:-1771.209433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 84.477679 meters # Minimum depth: 1774.502676 meters looking forward 100.000000 meters along route # Maximum depth: 1777.443764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.502676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699295; longitude = -122.074585; captureRadius = 10; duration = 84; initialDepth = 1724.686293; finalDepth = 1724.502676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.537973 # Actual altitude: 50.537973 # Commanded vehicle depth:1724.502676 # Seafloor depth:-1775.040649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; 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 = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 84.477679 meters # Minimum depth: 1774.686293 meters looking forward 100.000000 meters along route # Maximum depth: 1777.542694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.686293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.075414; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1726.637324; finalDepth = 1724.686293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.856401 # Actual altitude: 52.856401 # Commanded vehicle depth:1724.686293 # Seafloor depth:-1777.542694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1777.342759 meters looking forward 100.000000 meters along route # Maximum depth: 1781.474714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.637324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699496; longitude = -122.075481; captureRadius = 10; duration = 84; initialDepth = 1731.379215; finalDepth = 1726.637324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.856401 # Actual altitude: 52.856401 # Commanded vehicle depth:1726.6373241 # Seafloor depth:-1777.768952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1781.379215 meters looking forward 100.000000 meters along route # Maximum depth: 1784.301006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.379215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699751; longitude = -122.076266; captureRadius = 10; duration = 84; initialDepth = 1733.681996; finalDepth = 1731.379215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1316279000023 # Actual altitude: 51.1316279000023 # Commanded vehicle depth:1731.379215 # Seafloor depth:-1781.510300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1783.681996 meters looking forward 100.000000 meters along route # Maximum depth: 1787.853539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.681996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -122.077050; captureRadius = 10; duration = 84; initialDepth = 1736.809205; finalDepth = 1733.681996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8085329999999 # Actual altitude: 50.8085329999999 # Commanded vehicle depth:1733.681996 # Seafloor depth:-1784.490529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1786.809205 meters looking forward 100.000000 meters along route # Maximum depth: 1790.538494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.809205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700262; longitude = -122.077835; captureRadius = 10; duration = 84; initialDepth = 1739.992094; finalDepth = 1736.809205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0480150000001 # Actual altitude: 51.0480150000001 # Commanded vehicle depth:1736.809205 # Seafloor depth:-1787.857220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1789.992094 meters looking forward 100.000000 meters along route # Maximum depth: 1793.149058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.992094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700517; longitude = -122.078618; captureRadius = 10; duration = 84; initialDepth = 1743.001873; finalDepth = 1739.992094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1739.992094 # Seafloor depth:-1791.107106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1793.001873 meters looking forward 100.000000 meters along route # Maximum depth: 1797.652772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.001873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700773; longitude = -122.079403; captureRadius = 10; duration = 84; initialDepth = 1747.475504; finalDepth = 1743.001873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1743.001873 # Seafloor depth:-1793.674877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1797.475504 meters looking forward 100.000000 meters along route # Maximum depth: 1799.904991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.475504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701028; longitude = -122.080187; captureRadius = 10; duration = 84; initialDepth = 1749.822543; finalDepth = 1747.475504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.673004 # Actual altitude: 50.673004 # Commanded vehicle depth:1747.475504 # Seafloor depth:-1797.610821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.477679 meters # Minimum depth: 1799.822543 meters looking forward 100.000000 meters along route # Maximum depth: 1803.569425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.822543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701284; longitude = -122.080971; captureRadius = 10; duration = 84; initialDepth = 1750.670407; finalDepth = 1749.822543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4504489999999 # Actual altitude: 50.4504489999999 # Commanded vehicle depth:1749.822543 # Seafloor depth:-1800.272992 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 84.477679 meters # Minimum depth: 1800.670407 meters looking forward 100.000000 meters along route # Maximum depth: 1805.150156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.670407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701552; longitude = -122.081795; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1754.194594; finalDepth = 1750.670407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.942722 # Actual altitude: 52.942722 # Commanded vehicle depth:1750.670407 # Seafloor depth:-1803.613129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.477679 meters # Minimum depth: 1804.194594 meters looking forward 100.000000 meters along route # Maximum depth: 1807.233070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.194594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.082046; captureRadius = 10; duration = 84; initialDepth = 1756.472036; finalDepth = 1754.194594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.942722 # Actual altitude: 52.942722 # Commanded vehicle depth:1754.194594 # Seafloor depth:-1805.475938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.477679 meters # Minimum depth: 1806.472036 meters looking forward 100.000000 meters along route # Maximum depth: 1810.229953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.472036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.082812; captureRadius = 10; duration = 84; initialDepth = 1759.477765; finalDepth = 1756.472036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.281344 # Actual altitude: 51.281344 # Commanded vehicle depth:1756.472036 # Seafloor depth:-1807.391682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.477679 meters # Minimum depth: 1809.477765 meters looking forward 100.000000 meters along route # Maximum depth: 1812.029132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.477765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.083579; captureRadius = 10; duration = 84; initialDepth = 1761.119331; finalDepth = 1759.477765; 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: 50.9196460000001 # Actual altitude: 50.9196460000001 # Commanded vehicle depth:1759.477765 # Seafloor depth:-1810.315083 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 84.477679 meters # Minimum depth: 1811.119331 meters looking forward 100.000000 meters along route # Maximum depth: 1812.328336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.119331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.084318; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1759.105787; finalDepth = 1761.119331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0757979999998 # Actual altitude: 51.0757979999998 # Commanded vehicle depth:1761.119331 # Seafloor depth:-1812.195129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1809.105787 meters looking forward 100.000000 meters along route # Maximum depth: 1811.826616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.105787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700130; longitude = -122.083660; captureRadius = 10; duration = 84; initialDepth = 1754.844830; finalDepth = 1759.105787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9034670000001 # Actual altitude: 51.9034670000001 # Commanded vehicle depth:1759.105787 # Seafloor depth:-1811.009254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1804.844830 meters looking forward 100.000000 meters along route # Maximum depth: 1809.454255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.844830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699850; longitude = -122.082875; captureRadius = 10; duration = 84; initialDepth = 1753.566547; finalDepth = 1754.844830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1754.84483 # Seafloor depth:-1808.680670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1803.566547 meters looking forward 100.000000 meters along route # Maximum depth: 1805.308050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.566547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699570; longitude = -122.082091; captureRadius = 10; duration = 84; initialDepth = 1751.608586; finalDepth = 1753.566547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1753.566547 # Seafloor depth:-1804.686328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1801.608586 meters looking forward 100.000000 meters along route # Maximum depth: 1803.856734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.608586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699290; longitude = -122.081307; captureRadius = 10; duration = 84; initialDepth = 1746.977807; finalDepth = 1751.608586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0618449999999 # Actual altitude: 52.0618449999999 # Commanded vehicle depth:1751.608586 # Seafloor depth:-1803.670431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1796.977807 meters looking forward 100.000000 meters along route # Maximum depth: 1802.190441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.977807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699010; longitude = -122.080523; captureRadius = 10; duration = 84; initialDepth = 1746.576337; finalDepth = 1746.977807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.977807 # Seafloor depth:-1801.235886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1796.576337 meters looking forward 100.000000 meters along route # Maximum depth: 1798.165305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.576337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.079739; captureRadius = 10; duration = 84; initialDepth = 1742.362211; finalDepth = 1746.576337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.576337 # Seafloor depth:-1796.969284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.477679 meters # Minimum depth: 1792.362211 meters looking forward 100.000000 meters along route # Maximum depth: 1797.178552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.362211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698449; longitude = -122.078954; captureRadius = 10; duration = 84; initialDepth = 1740.384809; finalDepth = 1742.362211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1742.362211 # Seafloor depth:-1797.178552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 84.477679 meters # Minimum depth: 1790.384809 meters looking forward 100.000000 meters along route # Maximum depth: 1792.617024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.384809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698139; longitude = -122.078085; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1738.972273; finalDepth = 1740.384809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1740.384809 # Seafloor depth:-1792.255249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1788.972273 meters looking forward 100.000000 meters along route # Maximum depth: 1790.450453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.972273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697988; longitude = -122.077274; captureRadius = 10; duration = 84; initialDepth = 1736.441224; finalDepth = 1738.972273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8704400000001 # Actual altitude: 51.8704400000001 # Commanded vehicle depth:1738.972273 # Seafloor depth:-1790.422988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum depth: 1789.475967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.441224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.076420; captureRadius = 10; duration = 84; initialDepth = 1732.513710; finalDepth = 1736.441224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.189114 # Actual altitude: 52.189114 # Commanded vehicle depth:1736.441224 # Seafloor depth:-1788.630338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.513710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697675; longitude = -122.075594; captureRadius = 10; duration = 84; initialDepth = 1727.278952; finalDepth = 1732.513710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2016190000002 # Actual altitude: 53.2016190000002 # Commanded vehicle depth:1732.51371 # Seafloor depth:-1785.715329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.278952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697509; longitude = -122.074697; captureRadius = 10; duration = 84; initialDepth = 1721.381719; finalDepth = 1727.278952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2947730000001 # Actual altitude: 54.2947730000001 # Commanded vehicle depth:1727.278952 # Seafloor depth:-1781.573725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1771.381719 meters looking forward 100.000000 meters along route # Maximum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.381719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697342; longitude = -122.073801; captureRadius = 10; duration = 84; initialDepth = 1715.391761; finalDepth = 1721.381719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9970390000001 # Actual altitude: 54.9970390000001 # Commanded vehicle depth:1721.381719 # Seafloor depth:-1776.378758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1765.391761 meters looking forward 100.000000 meters along route # Maximum depth: 1772.135849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.391761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697175; longitude = -122.072905; captureRadius = 10; duration = 84; initialDepth = 1714.393261; finalDepth = 1715.391761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1715.391761 # Seafloor depth:-1770.559034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum depth: 1766.236325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.393261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.072062; captureRadius = 10; duration = 84; initialDepth = 1708.559060; finalDepth = 1714.393261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1714.393261 # Seafloor depth:-1765.191505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1758.559060 meters looking forward 100.000000 meters along route # Maximum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.559060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696862; longitude = -122.071224; captureRadius = 10; duration = 84; initialDepth = 1707.853383; finalDepth = 1708.559060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1708.55906 # Seafloor depth:-1763.556388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1757.853383 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.853383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696696; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.853383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1707.853383 # Seafloor depth:-1758.114042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696529; longitude = -122.069432; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1759.075230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1758.077348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696362; longitude = -122.068536; captureRadius = 10; duration = 84; initialDepth = 1706.421623; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1757.473409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1756.421623 meters looking forward 100.000000 meters along route # Maximum depth: 1757.823008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.421623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.067703; captureRadius = 10; duration = 84; initialDepth = 1702.879087; finalDepth = 1706.421623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.088113 # Actual altitude: 51.088113 # Commanded vehicle depth:1706.421623 # Seafloor depth:-1757.509736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1752.879087 meters looking forward 100.000000 meters along route # Maximum depth: 1757.239169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.879087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696049; longitude = -122.066855; captureRadius = 10; duration = 84; initialDepth = 1697.577915; finalDepth = 1702.879087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.004737 # Actual altitude: 54.004737 # Commanded vehicle depth:1702.879087 # Seafloor depth:-1756.883824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum depth: 1753.668001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.577915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695883; longitude = -122.065959; captureRadius = 10; duration = 84; initialDepth = 1693.754648; finalDepth = 1697.577915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1697.577915 # Seafloor depth:-1753.116409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1743.754648 meters looking forward 100.000000 meters along route # Maximum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.754648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695716; longitude = -122.065063; captureRadius = 10; duration = 84; initialDepth = 1686.466626; finalDepth = 1693.754648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1693.754648 # Seafloor depth:-1746.924377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1736.466626 meters looking forward 100.000000 meters along route # Maximum depth: 1744.372680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.466626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695549; longitude = -122.064167; captureRadius = 10; duration = 84; initialDepth = 1682.195652; finalDepth = 1686.466626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1686.466626 # Seafloor depth:-1742.796573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1732.195652 meters looking forward 100.000000 meters along route # Maximum depth: 1737.315822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.195652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.063344; captureRadius = 10; duration = 84; initialDepth = 1681.917904; finalDepth = 1682.195652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1682.195652 # Seafloor depth:-1736.201013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1731.917904 meters looking forward 100.000000 meters along route # Maximum depth: 1733.336705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.917904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695236; longitude = -122.062486; captureRadius = 10; duration = 84; initialDepth = 1678.002430; finalDepth = 1681.917904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.005361 # Actual altitude: 54.005361 # Commanded vehicle depth:1681.917904 # Seafloor depth:-1731.917904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum depth: 1732.152681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.002430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695070; longitude = -122.061590; captureRadius = 10; duration = 84; initialDepth = 1670.399301; finalDepth = 1678.002430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.730405 # Actual altitude: 53.730405 # Commanded vehicle depth:1678.00243 # Seafloor depth:-1731.732835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1720.399301 meters looking forward 100.000000 meters along route # Maximum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.399301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694903; longitude = -122.060694; captureRadius = 10; duration = 84; initialDepth = 1663.033497; finalDepth = 1670.399301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1670.399301 # Seafloor depth:-1727.871126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.477679 meters # Minimum depth: 1713.033497 meters looking forward 100.000000 meters along route # Maximum depth: 1721.946610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.033497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694736; longitude = -122.059797; captureRadius = 10; duration = 84; initialDepth = 1659.268699; finalDepth = 1663.033497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1663.033497 # Seafloor depth:-1719.220434 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 84.477679 meters # Minimum depth: 1709.268699 meters looking forward 100.000000 meters along route # Maximum depth: 1716.462406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.268699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694577; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1652.100952; finalDepth = 1659.268699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1869370000002 # Actual altitude: 56.1869370000002 # Commanded vehicle depth:1659.268699 # Seafloor depth:-1712.134857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum depth: 1709.268699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.100952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694571; longitude = -122.058341; captureRadius = 10; duration = 84; initialDepth = 1640.701875; finalDepth = 1652.100952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.958443 # Actual altitude: 56.958443 # Commanded vehicle depth:1652.100952 # Seafloor depth:-1709.059395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1690.701875 meters looking forward 100.000000 meters along route # Maximum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.701875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694562; longitude = -122.057445; captureRadius = 10; duration = 84; initialDepth = 1639.481819; finalDepth = 1640.701875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1640.701875 # Seafloor depth:-1700.801675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1689.481819 meters looking forward 100.000000 meters along route # Maximum depth: 1691.851293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.481819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694553; longitude = -122.056549; captureRadius = 10; duration = 84; initialDepth = 1641.197533; finalDepth = 1639.481819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1639.481819 # Seafloor depth:-1690.173820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum depth: 1693.205500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.197533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694545; longitude = -122.055652; captureRadius = 10; duration = 84; initialDepth = 1636.810276; finalDepth = 1641.197533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2780419999999 # Actual altitude: 51.2780419999999 # Commanded vehicle depth:1641.197533 # Seafloor depth:-1692.475575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.810276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694536; longitude = -122.054756; captureRadius = 10; duration = 84; initialDepth = 1629.243491; finalDepth = 1636.810276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.044443 # Actual altitude: 54.044443 # Commanded vehicle depth:1636.810276 # Seafloor depth:-1690.854719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.243491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694527; longitude = -122.053860; captureRadius = 10; duration = 84; initialDepth = 1625.088952; finalDepth = 1629.243491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1629.243491 # Seafloor depth:-1686.122163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.088952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694518; longitude = -122.052964; captureRadius = 10; duration = 84; initialDepth = 1623.270294; finalDepth = 1625.088952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1625.088952 # Seafloor depth:-1678.343746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.270294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694509; longitude = -122.052067; captureRadius = 10; duration = 84; initialDepth = 1618.948310; finalDepth = 1623.270294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2547939999999 # Actual altitude: 53.2547939999999 # Commanded vehicle depth:1623.270294 # Seafloor depth:-1674.646085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.948310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694500; longitude = -122.051171; captureRadius = 10; duration = 84; initialDepth = 1613.774763; finalDepth = 1618.948310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.941221 # Actual altitude: 53.941221 # Commanded vehicle depth:1618.94831 # Seafloor depth:-1672.889531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1663.774763 meters looking forward 100.000000 meters along route # Maximum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.774763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694491; longitude = -122.050275; captureRadius = 10; duration = 84; initialDepth = 1613.444239; finalDepth = 1613.774763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.774763 # Seafloor depth:-1668.591958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum depth: 1665.363639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.444239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694483; longitude = -122.049379; captureRadius = 10; duration = 84; initialDepth = 1605.500888; finalDepth = 1613.444239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.444239 # Seafloor depth:-1663.704756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.500888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694474; longitude = -122.048482; captureRadius = 10; duration = 84; initialDepth = 1600.686302; finalDepth = 1605.500888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1605.500888 # Seafloor depth:-1662.230231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1650.686302 meters looking forward 100.000000 meters along route # Maximum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.686302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694465; longitude = -122.047586; captureRadius = 10; duration = 84; initialDepth = 1599.660929; finalDepth = 1600.686302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1600.686302 # Seafloor depth:-1654.674204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1649.660929 meters looking forward 100.000000 meters along route # Maximum depth: 1651.223170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.660929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694456; longitude = -122.046690; captureRadius = 10; duration = 84; initialDepth = 1597.505174; finalDepth = 1599.660929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9879019999998 # Actual altitude: 53.9879019999998 # Commanded vehicle depth:1599.660929 # Seafloor depth:-1650.033205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum depth: 1651.128043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.505174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694447; longitude = -122.045794; captureRadius = 10; duration = 84; initialDepth = 1592.938966; finalDepth = 1597.505174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5919800000001 # Actual altitude: 53.5919800000001 # Commanded vehicle depth:1597.505174 # Seafloor depth:-1651.097154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.477679 meters # Minimum depth: 1642.938966 meters looking forward 100.000000 meters along route # Maximum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.938966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694438; longitude = -122.044898; captureRadius = 10; duration = 84; initialDepth = 1589.337735; finalDepth = 1592.938966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1592.938966 # Seafloor depth:-1646.725079 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 84.477679 meters # Minimum depth: 1639.337735 meters looking forward 100.000000 meters along route # Maximum depth: 1643.937904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.337735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.043955; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1576.923201; finalDepth = 1589.337735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1589.337735 # Seafloor depth:-1642.532806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1640.745772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694586; longitude = -122.043217; captureRadius = 10; duration = 84; initialDepth = 1576.923201; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1639.326118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1633.317839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.042369; captureRadius = 10; duration = 84; initialDepth = 1577.561449; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1627.241703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1627.561449 meters looking forward 100.000000 meters along route # Maximum depth: 1632.506637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.561449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694946; longitude = -122.041520; captureRadius = 10; duration = 84; initialDepth = 1572.410929; finalDepth = 1577.561449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.613261 # Actual altitude: 53.613261 # Commanded vehicle depth:1577.561449 # Seafloor depth:-1631.174710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1622.410929 meters looking forward 100.000000 meters along route # Maximum depth: 1629.789645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.410929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695132; longitude = -122.040640; captureRadius = 10; duration = 84; initialDepth = 1568.401355; finalDepth = 1572.410929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1572.410929 # Seafloor depth:-1629.789645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1618.401355 meters looking forward 100.000000 meters along route # Maximum depth: 1623.807862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.401355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695306; longitude = -122.039820; captureRadius = 10; duration = 84; initialDepth = 1566.636062; finalDepth = 1568.401355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1568.401355 # Seafloor depth:-1622.046213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1616.636062 meters looking forward 100.000000 meters along route # Maximum depth: 1618.733613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.636062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695488; longitude = -122.038960; captureRadius = 10; duration = 84; initialDepth = 1563.700332; finalDepth = 1566.636062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6448580000001 # Actual altitude: 53.6448580000001 # Commanded vehicle depth:1566.636062 # Seafloor depth:-1618.383863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1613.700332 meters looking forward 100.000000 meters along route # Maximum depth: 1617.479565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.700332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695666; longitude = -122.038121; captureRadius = 10; duration = 84; initialDepth = 1560.772083; finalDepth = 1563.700332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3053070000001 # Actual altitude: 52.3053070000001 # Commanded vehicle depth:1563.700332 # Seafloor depth:-1616.005639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1610.772083 meters looking forward 100.000000 meters along route # Maximum depth: 1615.654444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.772083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.037271; captureRadius = 10; duration = 84; initialDepth = 1553.817712; finalDepth = 1560.772083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.860471 # Actual altitude: 54.860471 # Commanded vehicle depth:1560.772083 # Seafloor depth:-1615.632554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1603.817712 meters looking forward 100.000000 meters along route # Maximum depth: 1611.569382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.817712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696035; longitude = -122.036383; captureRadius = 10; duration = 84; initialDepth = 1547.567990; finalDepth = 1553.817712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1553.817712 # Seafloor depth:-1610.337486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1597.567990 meters looking forward 100.000000 meters along route # Maximum depth: 1604.025337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.567990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696225; longitude = -122.035487; captureRadius = 10; duration = 84; initialDepth = 1541.500440; finalDepth = 1547.567990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1547.56799 # Seafloor depth:-1603.081856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1591.500440 meters looking forward 100.000000 meters along route # Maximum depth: 1598.311409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.500440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696415; longitude = -122.034591; captureRadius = 10; duration = 84; initialDepth = 1538.593362; finalDepth = 1541.500440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1541.50044 # Seafloor depth:-1598.077761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1588.593362 meters looking forward 100.000000 meters along route # Maximum depth: 1592.406099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.593362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696605; longitude = -122.033695; captureRadius = 10; duration = 84; initialDepth = 1534.218406; finalDepth = 1538.593362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1538.593362 # Seafloor depth:-1590.087022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum depth: 1589.349196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.218406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696795; longitude = -122.032798; captureRadius = 10; duration = 84; initialDepth = 1532.301728; finalDepth = 1534.218406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1534.218406 # Seafloor depth:-1589.021321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1582.301728 meters looking forward 100.000000 meters along route # Maximum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.301728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696985; longitude = -122.031902; captureRadius = 10; duration = 84; initialDepth = 1532.577437; finalDepth = 1532.301728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1532.301728 # Seafloor depth:-1583.807256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1582.577437 meters looking forward 100.000000 meters along route # Maximum depth: 1583.523922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.577437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697176; longitude = -122.031006; captureRadius = 10; duration = 84; initialDepth = 1530.925899; finalDepth = 1532.577437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5055280000001 # Actual altitude: 51.5055280000001 # Commanded vehicle depth:1532.577437 # Seafloor depth:-1583.019670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.477679 meters # Minimum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum depth: 1583.462525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.925899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697366; longitude = -122.030110; captureRadius = 10; duration = 84; initialDepth = 1530.046897; finalDepth = 1530.925899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5096899999999 # Actual altitude: 52.5096899999999 # Commanded vehicle depth:1530.925899 # Seafloor depth:-1583.435589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 84.477679 meters # Minimum depth: 1580.046897 meters looking forward 100.000000 meters along route # Maximum depth: 1583.462525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.046897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697545; longitude = -122.029264; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1527.228962; finalDepth = 1530.046897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5096899999999 # Actual altitude: 52.5096899999999 # Commanded vehicle depth:1530.046897 # Seafloor depth:-1580.243591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1577.228962 meters looking forward 100.000000 meters along route # Maximum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.228962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697567; longitude = -122.029213; captureRadius = 10; duration = 84; initialDepth = 1513.893893; finalDepth = 1527.228962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.587884 # Actual altitude: 52.587884 # Commanded vehicle depth:1527.228962 # Seafloor depth:-1579.816846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1563.893893 meters looking forward 100.000000 meters along route # Maximum depth: 1579.361314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.893893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697919; longitude = -122.028409; captureRadius = 10; duration = 84; initialDepth = 1512.426908; finalDepth = 1513.893893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1513.893893 # Seafloor depth:-1576.750794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1562.426908 meters looking forward 100.000000 meters along route # Maximum depth: 1564.256409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.426908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698253; longitude = -122.027645; captureRadius = 10; duration = 84; initialDepth = 1512.930823; finalDepth = 1512.426908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1512.426908 # Seafloor depth:-1564.256409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1562.930823 meters looking forward 100.000000 meters along route # Maximum depth: 1564.908812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.930823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698597; longitude = -122.026861; captureRadius = 10; duration = 84; initialDepth = 1504.335634; finalDepth = 1512.930823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8295010000002 # Actual altitude: 51.8295010000002 # Commanded vehicle depth:1512.930823 # Seafloor depth:-1563.444294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1554.335634 meters looking forward 100.000000 meters along route # Maximum depth: 1564.502643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.335634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698940; longitude = -122.026077; captureRadius = 10; duration = 84; initialDepth = 1498.366958; finalDepth = 1504.335634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1504.335634 # Seafloor depth:-1563.484116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1548.366958 meters looking forward 100.000000 meters along route # Maximum depth: 1554.804980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.366958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699283; longitude = -122.025292; captureRadius = 10; duration = 84; initialDepth = 1494.638785; finalDepth = 1498.366958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1498.366958 # Seafloor depth:-1554.134646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1544.638785 meters looking forward 100.000000 meters along route # Maximum depth: 1548.937605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.638785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.024496; captureRadius = 10; duration = 84; initialDepth = 1489.317351; finalDepth = 1494.638785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7676879999999 # Actual altitude: 55.7676879999999 # Commanded vehicle depth:1494.638785 # Seafloor depth:-1548.283804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1539.317351 meters looking forward 100.000000 meters along route # Maximum depth: 1545.083870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.317351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699969; longitude = -122.023724; captureRadius = 10; duration = 84; initialDepth = 1486.024107; finalDepth = 1489.317351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1489.317351 # Seafloor depth:-1543.481487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; 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 = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.477679 meters # Minimum depth: 1536.024107 meters looking forward 100.000000 meters along route # Maximum depth: 1539.601933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.024107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700312; longitude = -122.022940; captureRadius = 10; duration = 84; initialDepth = 1486.024107; finalDepth = 1486.024107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1486.024107 # Seafloor depth:-1539.253463 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; 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 = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 84.477679 meters # Minimum depth: 1536.024107 meters looking forward 100.000000 meters along route # Maximum depth: 1539.601933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.024107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700662; longitude = -122.022141; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1484.803871; finalDepth = 1486.024107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2293560000001 # Actual altitude: 53.2293560000001 # Commanded vehicle depth:1486.024107 # Seafloor depth:-1536.685425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.477679 meters # Minimum depth: 1534.803871 meters looking forward 100.000000 meters along route # Maximum depth: 1536.685425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.803871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.022090; captureRadius = 10; duration = 84; initialDepth = 1482.164122; finalDepth = 1484.803871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6283989999999 # Actual altitude: 51.6283989999999 # Commanded vehicle depth:1484.803871 # Seafloor depth:-1536.432270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.477679 meters # Minimum depth: 1532.164122 meters looking forward 100.000000 meters along route # Maximum depth: 1535.333501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.164122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.021549; captureRadius = 10; duration = 84; initialDepth = 1476.945179; finalDepth = 1482.164122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1693790000002 # Actual altitude: 53.1693790000002 # Commanded vehicle depth:1482.164122 # Seafloor depth:-1535.333501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.477679 meters # Minimum depth: 1526.945179 meters looking forward 100.000000 meters along route # Maximum depth: 1532.429114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.945179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.021009; captureRadius = 10; duration = 84; initialDepth = 1472.801345; finalDepth = 1476.945179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1476.945179 # Seafloor depth:-1532.111517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.477679 meters # Minimum depth: 1522.801345 meters looking forward 100.000000 meters along route # Maximum depth: 1527.715634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.801345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.020468; captureRadius = 10; duration = 84; initialDepth = 1470.339717; finalDepth = 1472.801345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1472.801345 # Seafloor depth:-1526.848378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.477679 meters # Minimum depth: 1520.339717 meters looking forward 100.000000 meters along route # Maximum depth: 1524.291636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.339717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702888; longitude = -122.019915; captureRadius = 10; duration = 84; initialDepth = 1466.586587; finalDepth = 1470.339717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0470329999998 # Actual altitude: 54.0470329999998 # Commanded vehicle depth:1470.339717 # Seafloor depth:-1522.654847 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 84.477679 meters # Minimum depth: 1516.586587 meters looking forward 100.000000 meters along route # Maximum depth: 1522.616364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.586587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703481; longitude = -122.019322; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1463.816298; finalDepth = 1466.586587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1466.586587 # Seafloor depth:-1522.616364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.477679 meters # Minimum depth: 1513.816298 meters looking forward 100.000000 meters along route # Maximum depth: 1516.754370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.816298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704062; longitude = -122.018907; captureRadius = 10; duration = 84; initialDepth = 1462.119811; finalDepth = 1463.816298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1463.816298 # Seafloor depth:-1516.563812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.477679 meters # Minimum depth: 1512.119811 meters looking forward 100.000000 meters along route # Maximum depth: 1514.749296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.119811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704690; longitude = -122.018459; captureRadius = 10; duration = 84; initialDepth = 1456.377581; finalDepth = 1462.119811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7475140000001 # Actual altitude: 52.7475140000001 # Commanded vehicle depth:1462.119811 # Seafloor depth:-1513.601260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.477679 meters # Minimum depth: 1506.377581 meters looking forward 100.000000 meters along route # Maximum depth: 1513.575651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.377581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705317; longitude = -122.018011; captureRadius = 10; duration = 84; initialDepth = 1452.250954; finalDepth = 1456.377581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1456.377581 # Seafloor depth:-1513.090588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.477679 meters # Minimum depth: 1502.250954 meters looking forward 100.000000 meters along route # Maximum depth: 1507.624443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.250954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705944; longitude = -122.017562; captureRadius = 10; duration = 84; initialDepth = 1448.208047; finalDepth = 1452.250954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1452.250954 # Seafloor depth:-1506.340402 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; 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 = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 84.477679 meters # Minimum depth: 1498.208047 meters looking forward 100.000000 meters along route # Maximum depth: 1505.965009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.208047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.017096; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1435.822426; finalDepth = 1448.208047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0894479999999 # Actual altitude: 54.0894479999999 # Commanded vehicle depth:1448.208047 # Seafloor depth:-1501.083679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1485.822426 meters looking forward 100.000000 meters along route # Maximum depth: 1498.650743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.822426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707111; longitude = -122.016848; captureRadius = 10; duration = 84; initialDepth = 1427.745713; finalDepth = 1435.822426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8331500000002 # Actual altitude: 61.8331500000002 # Commanded vehicle depth:1435.822426 # Seafloor depth:-1497.655576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1477.745713 meters looking forward 100.000000 meters along route # Maximum depth: 1490.022294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.745713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707742; longitude = -122.016543; captureRadius = 10; duration = 84; initialDepth = 1410.251084; finalDepth = 1427.745713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8331500000002 # Actual altitude: 61.8331500000002 # Commanded vehicle depth:1427.745713 # Seafloor depth:-1485.327856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1460.251084 meters looking forward 100.000000 meters along route # Maximum depth: 1480.669306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.251084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708373; longitude = -122.016239; captureRadius = 10; duration = 84; initialDepth = 1409.246968; finalDepth = 1410.251084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3922379999999 # Actual altitude: 64.3922379999999 # Commanded vehicle depth:1410.251084 # Seafloor depth:-1474.643322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 257.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1459.246968 meters looking forward 100.000000 meters along route # Maximum depth: 1464.618031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.246968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709003; longitude = -122.015934; captureRadius = 10; duration = 84; initialDepth = 1410.085387; finalDepth = 1409.246968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3922379999999 # Actual altitude: 64.3922379999999 # Commanded vehicle depth:1409.246968 # Seafloor depth:-1459.246968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 257.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1460.085387 meters looking forward 100.000000 meters along route # Maximum depth: 1464.618031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.085387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709634; longitude = -122.015630; captureRadius = 10; duration = 84; initialDepth = 1406.058794; finalDepth = 1410.085387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.389764 # Actual altitude: 54.389764 # Commanded vehicle depth:1410.085387 # Seafloor depth:-1464.475151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.477679 meters # Minimum depth: 1456.058794 meters looking forward 100.000000 meters along route # Maximum depth: 1461.371963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.058794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710265; longitude = -122.015325; captureRadius = 10; duration = 84; initialDepth = 1405.666373; finalDepth = 1406.058794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.389764 # Actual altitude: 54.389764 # Commanded vehicle depth:1406.058794 # Seafloor depth:-1459.472420 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 84.477679 meters # Minimum depth: 1455.666373 meters looking forward 100.000000 meters along route # Maximum depth: 1461.196145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.666373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710901; longitude = -122.015018; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1405.666373; finalDepth = 1405.666373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.413626 # Actual altitude: 53.413626 # Commanded vehicle depth:1405.666373 # Seafloor depth:-1458.190247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.477679 meters # Minimum depth: 1455.666373 meters looking forward 100.000000 meters along route # Maximum depth: 1472.918072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.666373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711166; longitude = -122.014912; captureRadius = 10; duration = 84; initialDepth = 1416.496970; finalDepth = 1405.666373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.523874 # Actual altitude: 52.523874 # Commanded vehicle depth:1405.666373 # Seafloor depth:-1457.058256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.477679 meters # Minimum depth: 1466.496970 meters looking forward 100.000000 meters along route # Maximum depth: 1472.184265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.496970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711822; longitude = -122.014650; captureRadius = 10; duration = 84; initialDepth = 1412.035986; finalDepth = 1416.496970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0931840000001 # Actual altitude: 54.0931840000001 # Commanded vehicle depth:1416.49697 # Seafloor depth:-1470.590154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.477679 meters # Minimum depth: 1462.035986 meters looking forward 100.000000 meters along route # Maximum depth: 1466.917595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.035986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.014371; captureRadius = 10; duration = 84; initialDepth = 1404.849555; finalDepth = 1412.035986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3481509999999 # Actual altitude: 54.3481509999999 # Commanded vehicle depth:1412.035986 # Seafloor depth:-1466.384137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.477679 meters # Minimum depth: 1454.849555 meters looking forward 100.000000 meters along route # Maximum depth: 1462.728121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.849555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.014083; captureRadius = 10; duration = 84; initialDepth = 1401.493215; finalDepth = 1404.849555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9879980000001 # Actual altitude: 56.9879980000001 # Commanded vehicle depth:1404.849555 # Seafloor depth:-1461.837553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.477679 meters # Minimum depth: 1451.493215 meters looking forward 100.000000 meters along route # Maximum depth: 1455.507958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.493215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.013794; captureRadius = 10; duration = 84; initialDepth = 1398.647604; finalDepth = 1401.493215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9879980000001 # Actual altitude: 56.9879980000001 # Commanded vehicle depth:1401.493215 # Seafloor depth:-1454.188697 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 84.477679 meters # Minimum depth: 1448.647604 meters looking forward 100.000000 meters along route # Maximum depth: 1453.884768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.647604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714610; longitude = -122.013534; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1394.480212; finalDepth = 1398.647604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6954820000001 # Actual altitude: 52.6954820000001 # Commanded vehicle depth:1398.647604 # Seafloor depth:-1451.340485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.477679 meters # Minimum depth: 1444.480212 meters looking forward 100.000000 meters along route # Maximum depth: 1448.647604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.480212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.013321; captureRadius = 10; duration = 84; initialDepth = 1389.533135; finalDepth = 1394.480212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.771082 # Actual altitude: 53.771082 # Commanded vehicle depth:1394.480212 # Seafloor depth:-1448.251294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.477679 meters # Minimum depth: 1439.533135 meters looking forward 100.000000 meters along route # Maximum depth: 1445.125683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.533135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715912; longitude = -122.013081; captureRadius = 10; duration = 84; initialDepth = 1386.293164; finalDepth = 1389.533135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340400000001 # Actual altitude: 54.4340400000001 # Commanded vehicle depth:1389.533135 # Seafloor depth:-1443.967175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.477679 meters # Minimum depth: 1436.293164 meters looking forward 100.000000 meters along route # Maximum depth: 1439.957160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.293164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716573; longitude = -122.012851; captureRadius = 10; duration = 84; initialDepth = 1379.190538; finalDepth = 1386.293164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340400000001 # Actual altitude: 54.4340400000001 # Commanded vehicle depth:1386.293164 # Seafloor depth:-1439.431231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.477679 meters # Minimum depth: 1429.190538 meters looking forward 100.000000 meters along route # Maximum depth: 1436.309533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.190538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717294; longitude = -122.012601; captureRadius = 10; duration = 84; initialDepth = 1378.398802; finalDepth = 1379.190538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7677229999999 # Actual altitude: 56.7677229999999 # Commanded vehicle depth:1379.190538 # Seafloor depth:-1435.958261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 84.477679 meters # Minimum depth: 1428.398802 meters looking forward 100.000000 meters along route # Maximum depth: 1434.675670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.398802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718023; longitude = -122.012347; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1372.397701; finalDepth = 1378.398802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7677229999999 # Actual altitude: 56.7677229999999 # Commanded vehicle depth:1378.398802 # Seafloor depth:-1429.135040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.477679 meters # Minimum depth: 1422.397701 meters looking forward 100.000000 meters along route # Maximum depth: 1428.398802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.397701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718375; longitude = -122.012246; captureRadius = 10; duration = 84; initialDepth = 1364.674621; finalDepth = 1372.397701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.685759 # Actual altitude: 55.685759 # Commanded vehicle depth:1372.397701 # Seafloor depth:-1428.083460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.477679 meters # Minimum depth: 1414.674621 meters looking forward 100.000000 meters along route # Maximum depth: 1423.924566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.674621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719096; longitude = -122.012041; captureRadius = 10; duration = 84; initialDepth = 1363.220577; finalDepth = 1364.674621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6453560000002 # Actual altitude: 56.6453560000002 # Commanded vehicle depth:1364.674621 # Seafloor depth:-1421.319977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.477679 meters # Minimum depth: 1413.220577 meters looking forward 100.000000 meters along route # Maximum depth: 1416.635573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.220577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719767; longitude = -122.011849; captureRadius = 10; duration = 84; initialDepth = 1359.192568; finalDepth = 1363.220577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6453560000002 # Actual altitude: 56.6453560000002 # Commanded vehicle depth:1363.220577 # Seafloor depth:-1414.098494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.477679 meters # Minimum depth: 1409.192568 meters looking forward 100.000000 meters along route # Maximum depth: 1416.635573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.192568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720448; longitude = -122.011655; captureRadius = 10; duration = 84; initialDepth = 1358.625702; finalDepth = 1359.192568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.398021 # Actual altitude: 56.398021 # Commanded vehicle depth:1359.192568 # Seafloor depth:-1415.590589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 84.477679 meters # Minimum depth: 1408.625702 meters looking forward 100.000000 meters along route # Maximum depth: 1413.200241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.625702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721140; longitude = -122.011457; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1358.522867; finalDepth = 1358.625702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.398021 # Actual altitude: 56.398021 # Commanded vehicle depth:1358.625702 # Seafloor depth:-1408.625702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.477679 meters # Minimum depth: 1408.522867 meters looking forward 100.000000 meters along route # Maximum depth: 1410.226308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.522867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721160; longitude = -122.011737; captureRadius = 10; duration = 84; initialDepth = 1358.631077; finalDepth = 1358.522867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1276230000001 # Actual altitude: 50.1276230000001 # Commanded vehicle depth:1358.522867 # Seafloor depth:-1408.650490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.477679 meters # Minimum depth: 1408.631077 meters looking forward 100.000000 meters along route # Maximum depth: 1418.133968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.631077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721224; longitude = -122.012633; captureRadius = 10; duration = 84; initialDepth = 1358.631077; finalDepth = 1358.631077; 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: 50.5155159999999 # Actual altitude: 50.5155159999999 # Commanded vehicle depth:1358.631077 # Seafloor depth:-1409.146593 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 84.477679 meters # Minimum depth: 1408.631077 meters looking forward 100.000000 meters along route # Maximum depth: 1418.770355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.631077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721288; longitude = -122.013534; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1359.608265; finalDepth = 1358.631077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1392780000001 # Actual altitude: 60.1392780000001 # Commanded vehicle depth:1358.631077 # Seafloor depth:-1418.770355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 240.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1415.642537 meters looking forward 100.000000 meters along route # Maximum depth: 1426.986449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.608265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721259; longitude = -122.013541; captureRadius = 10; duration = 84; initialDepth = 1376.966450; finalDepth = 1359.608265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1392780000001 # Actual altitude: 60.1392780000001 # Commanded vehicle depth:1359.6082652 # Seafloor depth:-1419.030872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 240.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1426.966450 meters looking forward 100.000000 meters along route # Maximum depth: 1428.466664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.966450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720538; longitude = -122.013708; captureRadius = 10; duration = 84; initialDepth = 1376.977280; finalDepth = 1376.966450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4226068000014 # Actual altitude: 59.4226068000014 # Commanded vehicle depth:1376.96645 # Seafloor depth:-1427.763108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.77; MB_Bottom_Detect_Filter_Max_Range = 237.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1426.977280 meters looking forward 100.000000 meters along route # Maximum depth: 1436.306950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.977280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719817; longitude = -122.013876; captureRadius = 10; duration = 84; initialDepth = 1386.306950; finalDepth = 1376.977280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7966580000002 # Actual altitude: 50.7966580000002 # Commanded vehicle depth:1376.97728 # Seafloor depth:-1427.073853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1436.306950 meters looking forward 100.000000 meters along route # Maximum depth: 1440.874960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.306950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719096; longitude = -122.014044; captureRadius = 10; duration = 84; initialDepth = 1389.078875; finalDepth = 1386.306950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2719980000002 # Actual altitude: 50.2719980000002 # Commanded vehicle depth:1386.30695 # Seafloor depth:-1436.578948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1439.078875 meters looking forward 100.000000 meters along route # Maximum depth: 1441.045792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.078875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718375; longitude = -122.014211; captureRadius = 10; duration = 84; initialDepth = 1387.571824; finalDepth = 1389.078875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966917 # Actual altitude: 51.966917 # Commanded vehicle depth:1389.078875 # Seafloor depth:-1441.045792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1437.571824 meters looking forward 100.000000 meters along route # Maximum depth: 1439.634438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.571824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717655; longitude = -122.014379; captureRadius = 10; duration = 84; initialDepth = 1387.571824; finalDepth = 1387.571824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966917 # Actual altitude: 51.966917 # Commanded vehicle depth:1387.571824 # Seafloor depth:-1439.280481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1437.571824 meters looking forward 100.000000 meters along route # Maximum depth: 1440.326008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.571824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716973; longitude = -122.014538; captureRadius = 10; duration = 84; initialDepth = 1389.387920; finalDepth = 1387.571824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7086569999999 # Actual altitude: 51.7086569999999 # Commanded vehicle depth:1387.571824 # Seafloor depth:-1437.765434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1439.387920 meters looking forward 100.000000 meters along route # Maximum depth: 1444.844673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.387920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716303; longitude = -122.014693; captureRadius = 10; duration = 84; initialDepth = 1393.803556; finalDepth = 1389.387920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1936099999998 # Actual altitude: 50.1936099999998 # Commanded vehicle depth:1389.38792 # Seafloor depth:-1439.387920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.477679 meters # Minimum depth: 1443.803556 meters looking forward 100.000000 meters along route # Maximum depth: 1449.447782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.803556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.014861; captureRadius = 10; duration = 84; initialDepth = 1395.466857; finalDepth = 1393.803556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1393.803556 # Seafloor depth:-1443.803556 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 84.477679 meters # Minimum depth: 1445.466857 meters looking forward 100.000000 meters along route # Maximum depth: 1449.708965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.466857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714907; longitude = -122.015018; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1399.650462; finalDepth = 1395.466857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8049940000001 # Actual altitude: 53.8049940000001 # Commanded vehicle depth:1395.466857 # Seafloor depth:-1449.271851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.477679 meters # Minimum depth: 1449.650462 meters looking forward 100.000000 meters along route # Maximum depth: 1452.978793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.650462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714591; longitude = -122.015154; captureRadius = 10; duration = 84; initialDepth = 1402.027640; finalDepth = 1399.650462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8049940000001 # Actual altitude: 53.8049940000001 # Commanded vehicle depth:1399.650462 # Seafloor depth:-1449.706376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.477679 meters # Minimum depth: 1452.027640 meters looking forward 100.000000 meters along route # Maximum depth: 1462.706431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.027640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713937; longitude = -122.015434; captureRadius = 10; duration = 84; initialDepth = 1412.706431; finalDepth = 1402.027640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.251565 # Actual altitude: 51.251565 # Commanded vehicle depth:1402.02764 # Seafloor depth:-1453.279205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.477679 meters # Minimum depth: 1462.706431 meters looking forward 100.000000 meters along route # Maximum depth: 1466.247475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.706431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.015733; captureRadius = 10; duration = 84; initialDepth = 1410.252689; finalDepth = 1412.706431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5101529999999 # Actual altitude: 51.5101529999999 # Commanded vehicle depth:1412.706431 # Seafloor depth:-1464.216584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.477679 meters # Minimum depth: 1460.252689 meters looking forward 100.000000 meters along route # Maximum depth: 1468.491238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.252689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.016042; captureRadius = 10; duration = 84; initialDepth = 1405.559261; finalDepth = 1410.252689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3822030000001 # Actual altitude: 56.3822030000001 # Commanded vehicle depth:1410.252689 # Seafloor depth:-1466.634892 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 84.477679 meters # Minimum depth: 1455.559261 meters looking forward 100.000000 meters along route # Maximum depth: 1463.253913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.559261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711791; longitude = -122.016354; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1405.556359; finalDepth = 1405.559261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3822030000001 # Actual altitude: 56.3822030000001 # Commanded vehicle depth:1405.559261 # Seafloor depth:-1461.808594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1455.556359 meters looking forward 100.000000 meters along route # Maximum depth: 1463.752615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.556359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711166; longitude = -122.016666; captureRadius = 10; duration = 84; initialDepth = 1413.696282; finalDepth = 1405.556359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.249333 # Actual altitude: 56.249333 # Commanded vehicle depth:1405.556359 # Seafloor depth:-1455.556359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 225.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1463.696282 meters looking forward 100.000000 meters along route # Maximum depth: 1475.130199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.696282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710535; longitude = -122.016982; captureRadius = 10; duration = 84; initialDepth = 1424.825683; finalDepth = 1413.696282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.567137 # Actual altitude: 50.567137 # Commanded vehicle depth:1413.696282 # Seafloor depth:-1464.263419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1474.825683 meters looking forward 100.000000 meters along route # Maximum depth: 1478.571771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.825683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.017297; captureRadius = 10; duration = 84; initialDepth = 1427.435458; finalDepth = 1424.825683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.567137 # Actual altitude: 50.567137 # Commanded vehicle depth:1424.825683 # Seafloor depth:-1475.034532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1477.435458 meters looking forward 100.000000 meters along route # Maximum depth: 1481.947467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.435458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709274; longitude = -122.017613; captureRadius = 10; duration = 84; initialDepth = 1429.799811; finalDepth = 1427.435458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.47623 # Actual altitude: 52.47623 # Commanded vehicle depth:1427.435458 # Seafloor depth:-1479.911688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1479.799811 meters looking forward 100.000000 meters along route # Maximum depth: 1484.274070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.799811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708643; longitude = -122.017928; captureRadius = 10; duration = 84; initialDepth = 1432.998493; finalDepth = 1429.799811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.47623 # Actual altitude: 52.47623 # Commanded vehicle depth:1429.799811 # Seafloor depth:-1480.840691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.477679 meters # Minimum depth: 1482.998493 meters looking forward 100.000000 meters along route # Maximum depth: 1495.225587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.998493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708012; longitude = -122.018243; captureRadius = 10; duration = 84; initialDepth = 1438.972636; finalDepth = 1432.998493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5286469999999 # Actual altitude: 51.5286469999999 # Commanded vehicle depth:1432.998493 # Seafloor depth:-1484.527140 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 84.477679 meters # Minimum depth: 1488.972636 meters looking forward 100.000000 meters along route # Maximum depth: 1495.225587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.972636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707339; longitude = -122.018580; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1443.022282; finalDepth = 1438.972636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3794150000001 # Actual altitude: 55.3794150000001 # Commanded vehicle depth:1438.972636 # Seafloor depth:-1494.352051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.477679 meters # Minimum depth: 1493.022282 meters looking forward 100.000000 meters along route # Maximum depth: 1497.149338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.022282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706931; longitude = -122.018804; captureRadius = 10; duration = 84; initialDepth = 1444.225120; finalDepth = 1443.022282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3794150000001 # Actual altitude: 55.3794150000001 # Commanded vehicle depth:1443.022282 # Seafloor depth:-1493.281085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.477679 meters # Minimum depth: 1494.225120 meters looking forward 100.000000 meters along route # Maximum depth: 1505.639896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.225120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.019151; captureRadius = 10; duration = 84; initialDepth = 1453.694709; finalDepth = 1444.225120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.829514 # Actual altitude: 53.829514 # Commanded vehicle depth:1444.22512 # Seafloor depth:-1498.054634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.477679 meters # Minimum depth: 1503.694709 meters looking forward 100.000000 meters along route # Maximum depth: 1509.123081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.694709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.019498; captureRadius = 10; duration = 84; initialDepth = 1455.952160; finalDepth = 1453.694709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.829514 # Actual altitude: 53.829514 # Commanded vehicle depth:1453.694709 # Seafloor depth:-1506.246191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.477679 meters # Minimum depth: 1505.952160 meters looking forward 100.000000 meters along route # Maximum depth: 1509.123081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.952160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.019845; captureRadius = 10; duration = 84; initialDepth = 1455.618635; finalDepth = 1455.952160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8019489999999 # Actual altitude: 52.8019489999999 # Commanded vehicle depth:1455.95216 # Seafloor depth:-1508.754109 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 84.477679 meters # Minimum depth: 1505.618635 meters looking forward 100.000000 meters along route # Maximum depth: 1508.339620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.618635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704371; longitude = -122.020212; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1457.676059; finalDepth = 1455.618635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8019489999999 # Actual altitude: 52.8019489999999 # Commanded vehicle depth:1455.618635 # Seafloor depth:-1508.058746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.477679 meters # Minimum depth: 1507.676059 meters looking forward 100.000000 meters along route # Maximum depth: 1509.842658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.676059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.020636; captureRadius = 10; duration = 84; initialDepth = 1459.481763; finalDepth = 1457.676059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4401109999999 # Actual altitude: 52.4401109999999 # Commanded vehicle depth:1457.676059 # Seafloor depth:-1509.096198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.477679 meters # Minimum depth: 1509.481763 meters looking forward 100.000000 meters along route # Maximum depth: 1514.858602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.481763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.021087; captureRadius = 10; duration = 84; initialDepth = 1464.646805; finalDepth = 1459.481763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.560829 # Actual altitude: 51.560829 # Commanded vehicle depth:1459.481763 # Seafloor depth:-1511.042592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.477679 meters # Minimum depth: 1514.646805 meters looking forward 100.000000 meters along route # Maximum depth: 1517.456786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.646805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.021538; captureRadius = 10; duration = 84; initialDepth = 1467.390697; finalDepth = 1464.646805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.560829 # Actual altitude: 51.560829 # Commanded vehicle depth:1464.646805 # Seafloor depth:-1515.719882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.477679 meters # Minimum depth: 1517.390697 meters looking forward 100.000000 meters along route # Maximum depth: 1531.213561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.390697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701884; longitude = -122.021988; captureRadius = 10; duration = 84; initialDepth = 1476.099458; finalDepth = 1467.390697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.073077 # Actual altitude: 51.073077 # Commanded vehicle depth:1467.390697 # Seafloor depth:-1518.404979 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 84.477679 meters # Minimum depth: 1526.099458 meters looking forward 100.000000 meters along route # Maximum depth: 1533.223078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.099458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701255; longitude = -122.022438; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1481.807425; finalDepth = 1476.099458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.081725 # Actual altitude: 55.081725 # Commanded vehicle depth:1476.099458 # Seafloor depth:-1531.181183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1531.807425 meters looking forward 100.000000 meters along route # Maximum depth: 1533.468947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.807425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.022953; captureRadius = 10; duration = 84; initialDepth = 1481.979434; finalDepth = 1481.807425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.081725 # Actual altitude: 55.081725 # Commanded vehicle depth:1481.807425 # Seafloor depth:-1533.190820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1531.979434 meters looking forward 100.000000 meters along route # Maximum depth: 1536.328036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.979434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700801; longitude = -122.023724; captureRadius = 10; duration = 84; initialDepth = 1485.479485; finalDepth = 1481.979434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5426739999998 # Actual altitude: 51.5426739999998 # Commanded vehicle depth:1481.979434 # Seafloor depth:-1533.522108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1535.479485 meters looking forward 100.000000 meters along route # Maximum depth: 1544.060245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.479485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700524; longitude = -122.024508; captureRadius = 10; duration = 84; initialDepth = 1493.451965; finalDepth = 1485.479485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5426739999998 # Actual altitude: 51.5426739999998 # Commanded vehicle depth:1485.479485 # Seafloor depth:-1535.501716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1543.451965 meters looking forward 100.000000 meters along route # Maximum depth: 1551.590103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.451965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700248; longitude = -122.025292; captureRadius = 10; duration = 84; initialDepth = 1501.406877; finalDepth = 1493.451965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9178529999999 # Actual altitude: 50.9178529999999 # Commanded vehicle depth:1493.451965 # Seafloor depth:-1544.369818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1551.406877 meters looking forward 100.000000 meters along route # Maximum depth: 1555.517158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.406877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699971; longitude = -122.026077; captureRadius = 10; duration = 84; initialDepth = 1504.834986; finalDepth = 1501.406877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9178529999999 # Actual altitude: 50.9178529999999 # Commanded vehicle depth:1501.406877 # Seafloor depth:-1551.842680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1554.834986 meters looking forward 100.000000 meters along route # Maximum depth: 1565.586776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.834986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699694; longitude = -122.026861; captureRadius = 10; duration = 84; initialDepth = 1514.336738; finalDepth = 1504.834986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2747789999999 # Actual altitude: 51.2747789999999 # Commanded vehicle depth:1504.834986 # Seafloor depth:-1556.109765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1564.336738 meters looking forward 100.000000 meters along route # Maximum depth: 1571.640488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.336738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699417; longitude = -122.027645; captureRadius = 10; duration = 84; initialDepth = 1520.922241; finalDepth = 1514.336738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9773640000001 # Actual altitude: 51.9773640000001 # Commanded vehicle depth:1514.336738 # Seafloor depth:-1566.314102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1570.922241 meters looking forward 100.000000 meters along route # Maximum depth: 1572.089813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.922241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699140; longitude = -122.028429; captureRadius = 10; duration = 84; initialDepth = 1521.569774; finalDepth = 1520.922241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9773640000001 # Actual altitude: 51.9773640000001 # Commanded vehicle depth:1520.922241 # Seafloor depth:-1571.669220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.477679 meters # Minimum depth: 1571.569774 meters looking forward 100.000000 meters along route # Maximum depth: 1577.474384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.569774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698864; longitude = -122.029213; captureRadius = 10; duration = 84; initialDepth = 1521.569774; finalDepth = 1521.569774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.746979 # Actual altitude: 50.746979 # Commanded vehicle depth:1521.569774 # Seafloor depth:-1571.569774 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 84.477679 meters # Minimum depth: 1571.569774 meters looking forward 100.000000 meters along route # Maximum depth: 1578.338102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.569774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.030006; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1525.867266; finalDepth = 1521.569774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1301469999999 # Actual altitude: 56.1301469999999 # Commanded vehicle depth:1521.569774 # Seafloor depth:-1577.699921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1577.474384 meters looking forward 100.000000 meters along route # Maximum depth: 1580.551687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.867266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.030161; captureRadius = 10; duration = 84; initialDepth = 1529.319163; finalDepth = 1525.867266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1301469999999 # Actual altitude: 56.1301469999999 # Commanded vehicle depth:1525.8672662 # Seafloor depth:-1578.732986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1579.319163 meters looking forward 100.000000 meters along route # Maximum depth: 1580.199017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.319163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.030985; captureRadius = 10; duration = 84; initialDepth = 1529.319163; finalDepth = 1529.319163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8657197999992 # Actual altitude: 52.8657197999992 # Commanded vehicle depth:1529.319163 # Seafloor depth:-1580.006777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1579.319163 meters looking forward 100.000000 meters along route # Maximum depth: 1582.490569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.319163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.031809; captureRadius = 10; duration = 84; initialDepth = 1532.057434; finalDepth = 1529.319163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693156 # Actual altitude: 50.693156 # Commanded vehicle depth:1529.319163 # Seafloor depth:-1580.012319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1582.057434 meters looking forward 100.000000 meters along route # Maximum depth: 1585.990287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.057434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.032633; captureRadius = 10; duration = 84; initialDepth = 1535.806000; finalDepth = 1532.057434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693156 # Actual altitude: 50.693156 # Commanded vehicle depth:1532.057434 # Seafloor depth:-1582.682407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1585.806000 meters looking forward 100.000000 meters along route # Maximum depth: 1590.409623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.806000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.033457; captureRadius = 10; duration = 84; initialDepth = 1538.975234; finalDepth = 1535.806000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.624973 # Actual altitude: 50.624973 # Commanded vehicle depth:1535.806 # Seafloor depth:-1585.959111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1588.975234 meters looking forward 100.000000 meters along route # Maximum depth: 1592.461048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.975234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.034281; captureRadius = 10; duration = 84; initialDepth = 1541.777852; finalDepth = 1538.975234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4220270000001 # Actual altitude: 51.4220270000001 # Commanded vehicle depth:1538.975234 # Seafloor depth:-1590.397261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1591.777852 meters looking forward 100.000000 meters along route # Maximum depth: 1598.994063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.777852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.035105; captureRadius = 10; duration = 84; initialDepth = 1546.626182; finalDepth = 1541.777852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4220270000001 # Actual altitude: 51.4220270000001 # Commanded vehicle depth:1541.777852 # Seafloor depth:-1592.890648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1596.626182 meters looking forward 100.000000 meters along route # Maximum depth: 1603.249674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.626182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697287; longitude = -122.035935; captureRadius = 10; duration = 84; initialDepth = 1552.068909; finalDepth = 1546.626182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.463561 # Actual altitude: 52.463561 # Commanded vehicle depth:1546.626182 # Seafloor depth:-1599.089743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1602.068909 meters looking forward 100.000000 meters along route # Maximum depth: 1607.115705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.068909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.036753; captureRadius = 10; duration = 84; initialDepth = 1556.175826; finalDepth = 1552.068909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.463561 # Actual altitude: 52.463561 # Commanded vehicle depth:1552.068909 # Seafloor depth:-1602.128014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1606.175826 meters looking forward 100.000000 meters along route # Maximum depth: 1609.225284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.175826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.037577; captureRadius = 10; duration = 84; initialDepth = 1558.081563; finalDepth = 1556.175826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9990660000001 # Actual altitude: 50.9990660000001 # Commanded vehicle depth:1556.175826 # Seafloor depth:-1607.174892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1608.081563 meters looking forward 100.000000 meters along route # Maximum depth: 1614.987530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.081563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.038401; captureRadius = 10; duration = 84; initialDepth = 1563.749791; finalDepth = 1558.081563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1460549999999 # Actual altitude: 51.1460549999999 # Commanded vehicle depth:1558.081563 # Seafloor depth:-1609.227618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1613.749791 meters looking forward 100.000000 meters along route # Maximum depth: 1616.118718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.749791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.039225; captureRadius = 10; duration = 84; initialDepth = 1564.940967; finalDepth = 1563.749791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5720370000001 # Actual altitude: 51.5720370000001 # Commanded vehicle depth:1563.749791 # Seafloor depth:-1615.321828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1614.940967 meters looking forward 100.000000 meters along route # Maximum depth: 1624.463530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.940967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696387; longitude = -122.040049; captureRadius = 10; duration = 84; initialDepth = 1572.539855; finalDepth = 1564.940967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5720370000001 # Actual altitude: 51.5720370000001 # Commanded vehicle depth:1564.940967 # Seafloor depth:-1616.174961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1622.539855 meters looking forward 100.000000 meters along route # Maximum depth: 1627.369453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.539855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.040873; captureRadius = 10; duration = 84; initialDepth = 1576.032738; finalDepth = 1572.539855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9568280000001 # Actual altitude: 51.9568280000001 # Commanded vehicle depth:1572.539855 # Seafloor depth:-1624.496683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1626.032738 meters looking forward 100.000000 meters along route # Maximum depth: 1630.080270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.032738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.041697; captureRadius = 10; duration = 84; initialDepth = 1579.451955; finalDepth = 1576.032738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9568280000001 # Actual altitude: 51.9568280000001 # Commanded vehicle depth:1576.032738 # Seafloor depth:-1627.886270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1629.451955 meters looking forward 100.000000 meters along route # Maximum depth: 1636.749561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.451955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695841; longitude = -122.042545; captureRadius = 10; duration = 84; initialDepth = 1585.134905; finalDepth = 1579.451955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8535319999999 # Actual altitude: 51.8535319999999 # Commanded vehicle depth:1579.451955 # Seafloor depth:-1630.257996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.477679 meters # Minimum depth: 1635.134905 meters looking forward 100.000000 meters along route # Maximum depth: 1640.564177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.134905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695645; longitude = -122.043441; captureRadius = 10; duration = 84; initialDepth = 1589.366154; finalDepth = 1585.134905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0329320000001 # Actual altitude: 53.0329320000001 # Commanded vehicle depth:1585.134905 # Seafloor depth:-1638.167837 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 84.477679 meters # Minimum depth: 1639.366154 meters looking forward 100.000000 meters along route # Maximum depth: 1640.998206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.366154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695468; longitude = -122.044252; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1588.162152; finalDepth = 1589.366154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0329320000001 # Actual altitude: 53.0329320000001 # Commanded vehicle depth:1589.366154 # Seafloor depth:-1640.784546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1638.162152 meters looking forward 100.000000 meters along route # Maximum depth: 1639.366154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.162152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695552; longitude = -122.045010; captureRadius = 10; duration = 84; initialDepth = 1583.962469; finalDepth = 1588.162152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.418392 # Actual altitude: 51.418392 # Commanded vehicle depth:1588.162152 # Seafloor depth:-1638.841522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1633.962469 meters looking forward 100.000000 meters along route # Maximum depth: 1638.650885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.962469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695652; longitude = -122.045906; captureRadius = 10; duration = 84; initialDepth = 1586.028066; finalDepth = 1583.962469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.91984 # Actual altitude: 53.91984 # Commanded vehicle depth:1583.962469 # Seafloor depth:-1637.882309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1636.028066 meters looking forward 100.000000 meters along route # Maximum depth: 1644.106576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.028066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695757; longitude = -122.046849; captureRadius = 10; duration = 84; initialDepth = 1593.887553; finalDepth = 1586.028066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.91984 # Actual altitude: 53.91984 # Commanded vehicle depth:1586.028066 # Seafloor depth:-1638.028947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1643.887553 meters looking forward 100.000000 meters along route # Maximum depth: 1649.576638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.887553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695851; longitude = -122.047698; captureRadius = 10; duration = 84; initialDepth = 1599.532530; finalDepth = 1593.887553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0008809999999 # Actual altitude: 52.0008809999999 # Commanded vehicle depth:1593.887553 # Seafloor depth:-1643.887553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1649.532530 meters looking forward 100.000000 meters along route # Maximum depth: 1653.560373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.532530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695951; longitude = -122.048594; captureRadius = 10; duration = 84; initialDepth = 1603.128900; finalDepth = 1599.532530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038577 # Actual altitude: 50.038577 # Commanded vehicle depth:1599.53253 # Seafloor depth:-1649.571107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1653.128900 meters looking forward 100.000000 meters along route # Maximum depth: 1655.580348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.128900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696050; longitude = -122.049491; captureRadius = 10; duration = 84; initialDepth = 1604.696620; finalDepth = 1603.128900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637467 # Actual altitude: 50.637467 # Commanded vehicle depth:1603.1289 # Seafloor depth:-1653.766367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1654.696620 meters looking forward 100.000000 meters along route # Maximum depth: 1664.445286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.696620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696150; longitude = -122.050387; captureRadius = 10; duration = 84; initialDepth = 1614.445286; finalDepth = 1604.696620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637467 # Actual altitude: 50.637467 # Commanded vehicle depth:1604.69662 # Seafloor depth:-1654.709872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1664.445286 meters looking forward 100.000000 meters along route # Maximum depth: 1667.550545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.445286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696249; longitude = -122.051283; captureRadius = 10; duration = 84; initialDepth = 1617.550545; finalDepth = 1614.445286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4280950000002 # Actual altitude: 51.4280950000002 # Commanded vehicle depth:1614.445286 # Seafloor depth:-1665.873381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1667.550545 meters looking forward 100.000000 meters along route # Maximum depth: 1672.300037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.550545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696349; longitude = -122.052179; captureRadius = 10; duration = 84; initialDepth = 1622.300037; finalDepth = 1617.550545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4280950000002 # Actual altitude: 51.4280950000002 # Commanded vehicle depth:1617.550545 # Seafloor depth:-1667.856531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1672.300037 meters looking forward 100.000000 meters along route # Maximum depth: 1676.933064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.300037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696449; longitude = -122.053076; captureRadius = 10; duration = 84; initialDepth = 1626.933064; finalDepth = 1622.300037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0869809999999 # Actual altitude: 51.0869809999999 # Commanded vehicle depth:1622.300037 # Seafloor depth:-1673.387018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1676.933064 meters looking forward 100.000000 meters along route # Maximum depth: 1685.787068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.933064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696548; longitude = -122.053972; captureRadius = 10; duration = 84; initialDepth = 1633.382423; finalDepth = 1626.933064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0869809999999 # Actual altitude: 51.0869809999999 # Commanded vehicle depth:1626.933064 # Seafloor depth:-1677.437766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1683.382423 meters looking forward 100.000000 meters along route # Maximum depth: 1686.976645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.382423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696648; longitude = -122.054868; captureRadius = 10; duration = 84; initialDepth = 1633.803552; finalDepth = 1633.382423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3839189999999 # Actual altitude: 53.3839189999999 # Commanded vehicle depth:1633.382423 # Seafloor depth:-1686.766342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1683.803552 meters looking forward 100.000000 meters along route # Maximum depth: 1695.585454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.803552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.055769; captureRadius = 10; duration = 84; initialDepth = 1645.185349; finalDepth = 1633.803552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3839189999999 # Actual altitude: 53.3839189999999 # Commanded vehicle depth:1633.803552 # Seafloor depth:-1684.746823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1695.185349 meters looking forward 100.000000 meters along route # Maximum depth: 1702.209667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.185349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696847; longitude = -122.056661; captureRadius = 10; duration = 84; initialDepth = 1652.037218; finalDepth = 1645.185349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411392 # Actual altitude: 51.411392 # Commanded vehicle depth:1645.185349 # Seafloor depth:-1696.596741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1702.037218 meters looking forward 100.000000 meters along route # Maximum depth: 1706.336504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.037218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696947; longitude = -122.057557; captureRadius = 10; duration = 84; initialDepth = 1656.336504; finalDepth = 1652.037218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411392 # Actual altitude: 51.411392 # Commanded vehicle depth:1652.037218 # Seafloor depth:-1702.487437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1706.336504 meters looking forward 100.000000 meters along route # Maximum depth: 1713.413385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.336504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697046; longitude = -122.058453; captureRadius = 10; duration = 84; initialDepth = 1663.413385; finalDepth = 1656.336504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.980284 # Actual altitude: 50.980284 # Commanded vehicle depth:1656.336504 # Seafloor depth:-1707.316788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.477679 meters # Minimum depth: 1713.413385 meters looking forward 100.000000 meters along route # Maximum depth: 1717.527934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.413385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697146; longitude = -122.059349; captureRadius = 10; duration = 84; initialDepth = 1667.449005; finalDepth = 1663.413385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.980284 # Actual altitude: 50.980284 # Commanded vehicle depth:1663.413385 # Seafloor depth:-1714.157910 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 84.477679 meters # Minimum depth: 1717.449005 meters looking forward 100.000000 meters along route # Maximum depth: 1722.198676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.449005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.060278; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1672.198676; finalDepth = 1667.449005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7445249999998 # Actual altitude: 50.7445249999998 # Commanded vehicle depth:1667.449005 # Seafloor depth:-1717.449005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1722.198676 meters looking forward 100.000000 meters along route # Maximum depth: 1723.111251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.198676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697450; longitude = -122.061142; captureRadius = 10; duration = 84; initialDepth = 1672.988506; finalDepth = 1672.198676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.45714 # Actual altitude: 50.45714 # Commanded vehicle depth:1672.198676 # Seafloor depth:-1722.655816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1722.988506 meters looking forward 100.000000 meters along route # Maximum depth: 1727.948652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.988506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.062001; captureRadius = 10; duration = 84; initialDepth = 1677.365241; finalDepth = 1672.988506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.45714 # Actual altitude: 50.45714 # Commanded vehicle depth:1672.988506 # Seafloor depth:-1723.322469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1727.365241 meters looking forward 100.000000 meters along route # Maximum depth: 1730.410992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.365241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697840; longitude = -122.062822; captureRadius = 10; duration = 84; initialDepth = 1679.589759; finalDepth = 1677.365241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9609110000001 # Actual altitude: 50.9609110000001 # Commanded vehicle depth:1677.365241 # Seafloor depth:-1728.326152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1729.589759 meters looking forward 100.000000 meters along route # Maximum depth: 1736.264715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.589759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698048; longitude = -122.063718; captureRadius = 10; duration = 84; initialDepth = 1686.264715; finalDepth = 1679.589759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6030720000001 # Actual altitude: 52.6030720000001 # Commanded vehicle depth:1679.589759 # Seafloor depth:-1732.192831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1736.264715 meters looking forward 100.000000 meters along route # Maximum depth: 1739.483797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.264715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698256; longitude = -122.064615; captureRadius = 10; duration = 84; initialDepth = 1689.158263; finalDepth = 1686.264715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6030720000001 # Actual altitude: 52.6030720000001 # Commanded vehicle depth:1686.264715 # Seafloor depth:-1736.629033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1739.158263 meters looking forward 100.000000 meters along route # Maximum depth: 1742.187120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.158263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698464; longitude = -122.065511; captureRadius = 10; duration = 84; initialDepth = 1692.174932; finalDepth = 1689.158263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.380995 # Actual altitude: 50.380995 # Commanded vehicle depth:1689.158263 # Seafloor depth:-1739.539258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1742.174932 meters looking forward 100.000000 meters along route # Maximum depth: 1746.681402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.174932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698672; longitude = -122.066407; captureRadius = 10; duration = 84; initialDepth = 1696.681402; finalDepth = 1692.174932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.380995 # Actual altitude: 50.380995 # Commanded vehicle depth:1692.174932 # Seafloor depth:-1742.484700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1746.681402 meters looking forward 100.000000 meters along route # Maximum depth: 1753.132570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.681402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698880; longitude = -122.067303; captureRadius = 10; duration = 84; initialDepth = 1702.366702; finalDepth = 1696.681402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3097680000001 # Actual altitude: 50.3097680000001 # Commanded vehicle depth:1696.681402 # Seafloor depth:-1746.894099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1752.366702 meters looking forward 100.000000 meters along route # Maximum depth: 1753.610108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.366702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.068213; captureRadius = 10; duration = 84; initialDepth = 1703.583947; finalDepth = 1702.366702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.799197 # Actual altitude: 50.799197 # Commanded vehicle depth:1702.366702 # Seafloor depth:-1753.165899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1753.583947 meters looking forward 100.000000 meters along route # Maximum depth: 1756.647191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.583947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699296; longitude = -122.069096; captureRadius = 10; duration = 84; initialDepth = 1706.647191; finalDepth = 1703.583947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.799197 # Actual altitude: 50.799197 # Commanded vehicle depth:1703.583947 # Seafloor depth:-1754.163637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1756.647191 meters looking forward 100.000000 meters along route # Maximum depth: 1758.497605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.647191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699504; longitude = -122.069992; captureRadius = 10; duration = 84; initialDepth = 1707.773781; finalDepth = 1706.647191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.57969 # Actual altitude: 50.57969 # Commanded vehicle depth:1706.647191 # Seafloor depth:-1756.772264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1757.773781 meters looking forward 100.000000 meters along route # Maximum depth: 1762.819836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.773781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699712; longitude = -122.070888; captureRadius = 10; duration = 84; initialDepth = 1712.567157; finalDepth = 1707.773781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483438 # Actual altitude: 51.483438 # Commanded vehicle depth:1707.773781 # Seafloor depth:-1759.257219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1762.567157 meters looking forward 100.000000 meters along route # Maximum depth: 1767.115289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.567157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.071706; captureRadius = 10; duration = 84; initialDepth = 1717.026795; finalDepth = 1712.567157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483438 # Actual altitude: 51.483438 # Commanded vehicle depth:1712.567157 # Seafloor depth:-1762.917483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1767.026795 meters looking forward 100.000000 meters along route # Maximum depth: 1769.424745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.026795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700102; longitude = -122.072569; captureRadius = 10; duration = 84; initialDepth = 1719.424745; finalDepth = 1717.026795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3563180000001 # Actual altitude: 50.3563180000001 # Commanded vehicle depth:1717.026795 # Seafloor depth:-1767.383113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1769.424745 meters looking forward 100.000000 meters along route # Maximum depth: 1774.376018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.424745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700310; longitude = -122.073465; captureRadius = 10; duration = 84; initialDepth = 1723.491355; finalDepth = 1719.424745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3563180000001 # Actual altitude: 50.3563180000001 # Commanded vehicle depth:1719.424745 # Seafloor depth:-1769.760173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1773.491355 meters looking forward 100.000000 meters along route # Maximum depth: 1778.195918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.491355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700518; longitude = -122.074361; captureRadius = 10; duration = 84; initialDepth = 1727.779510; finalDepth = 1723.491355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7400679999998 # Actual altitude: 51.7400679999998 # Commanded vehicle depth:1723.491355 # Seafloor depth:-1775.231423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1777.779510 meters looking forward 100.000000 meters along route # Maximum depth: 1781.482885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.779510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.075200; captureRadius = 10; duration = 84; initialDepth = 1731.408256; finalDepth = 1727.779510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7400679999998 # Actual altitude: 51.7400679999998 # Commanded vehicle depth:1727.77951 # Seafloor depth:-1778.422152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.477679 meters # Minimum depth: 1781.408256 meters looking forward 100.000000 meters along route # Maximum depth: 1783.348817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.408256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700908; longitude = -122.076042; captureRadius = 10; duration = 84; initialDepth = 1731.996627; finalDepth = 1731.408256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.642642 # Actual altitude: 50.642642 # Commanded vehicle depth:1731.408256 # Seafloor depth:-1781.545988 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 84.477679 meters # Minimum depth: 1781.996627 meters looking forward 100.000000 meters along route # Maximum depth: 1784.027680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.996627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701107; longitude = -122.076898; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1733.998203; finalDepth = 1731.996627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5442969999999 # Actual altitude: 51.5442969999999 # Commanded vehicle depth:1731.996627 # Seafloor depth:-1783.540924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.477679 meters # Minimum depth: 1783.998203 meters looking forward 100.000000 meters along route # Maximum depth: 1788.254784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.998203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701302; longitude = -122.077386; captureRadius = 10; duration = 84; initialDepth = 1737.868697; finalDepth = 1733.998203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5442969999999 # Actual altitude: 51.5442969999999 # Commanded vehicle depth:1733.998203 # Seafloor depth:-1784.204454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.477679 meters # Minimum depth: 1787.868697 meters looking forward 100.000000 meters along route # Maximum depth: 1788.599841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.868697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701616; longitude = -122.078170; captureRadius = 10; duration = 84; initialDepth = 1738.599612; finalDepth = 1737.868697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3994299999999 # Actual altitude: 50.3994299999999 # Commanded vehicle depth:1737.868697 # Seafloor depth:-1788.268127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.477679 meters # Minimum depth: 1788.599612 meters looking forward 100.000000 meters along route # Maximum depth: 1794.999132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.599612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701929; longitude = -122.078954; captureRadius = 10; duration = 84; initialDepth = 1744.195393; finalDepth = 1738.599612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9307000000001 # Actual altitude: 50.9307000000001 # Commanded vehicle depth:1738.599612 # Seafloor depth:-1789.530312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.477679 meters # Minimum depth: 1794.195393 meters looking forward 100.000000 meters along route # Maximum depth: 1796.312650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.195393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702245; longitude = -122.079744; captureRadius = 10; duration = 84; initialDepth = 1746.242581; finalDepth = 1744.195393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9307000000001 # Actual altitude: 50.9307000000001 # Commanded vehicle depth:1744.195393 # Seafloor depth:-1795.009215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.477679 meters # Minimum depth: 1796.242581 meters looking forward 100.000000 meters along route # Maximum depth: 1797.204794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.242581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702556; longitude = -122.080523; captureRadius = 10; duration = 84; initialDepth = 1746.242581; finalDepth = 1746.242581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8138220000001 # Actual altitude: 50.8138220000001 # Commanded vehicle depth:1746.242581 # Seafloor depth:-1796.940788 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 84.477679 meters # Minimum depth: 1796.242581 meters looking forward 100.000000 meters along route # Maximum depth: 1797.204794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.242581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.081350; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1746.665412; finalDepth = 1746.242581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772708 # Actual altitude: 50.772708 # Commanded vehicle depth:1746.242581 # Seafloor depth:-1797.015289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1796.665412 meters looking forward 100.000000 meters along route # Maximum depth: 1801.045095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.665412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702876; longitude = -122.081374; captureRadius = 10; duration = 84; initialDepth = 1749.872312; finalDepth = 1746.665412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772708 # Actual altitude: 50.772708 # Commanded vehicle depth:1746.665412 # Seafloor depth:-1797.066569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1799.872312 meters looking forward 100.000000 meters along route # Maximum depth: 1805.597189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.872312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.082145; captureRadius = 10; duration = 84; initialDepth = 1754.864773; finalDepth = 1749.872312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.709822 # Actual altitude: 51.709822 # Commanded vehicle depth:1749.872312 # Seafloor depth:-1801.582134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1804.864773 meters looking forward 100.000000 meters along route # Maximum depth: 1809.587876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.864773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702155; longitude = -122.082916; captureRadius = 10; duration = 84; initialDepth = 1758.901194; finalDepth = 1754.864773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.709822 # Actual altitude: 51.709822 # Commanded vehicle depth:1754.864773 # Seafloor depth:-1805.859501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1808.901194 meters looking forward 100.000000 meters along route # Maximum depth: 1813.529001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.901194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.083686; captureRadius = 10; duration = 84; initialDepth = 1762.417467; finalDepth = 1758.901194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9947279999999 # Actual altitude: 50.9947279999999 # Commanded vehicle depth:1758.901194 # Seafloor depth:-1809.723774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1812.417467 meters looking forward 100.000000 meters along route # Maximum depth: 1815.913118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.417467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.084457; captureRadius = 10; duration = 84; initialDepth = 1765.134427; finalDepth = 1762.417467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1602540000001 # Actual altitude: 51.1602540000001 # Commanded vehicle depth:1762.417467 # Seafloor depth:-1813.577721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1815.134427 meters looking forward 100.000000 meters along route # Maximum depth: 1818.207453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.134427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.085228; captureRadius = 10; duration = 84; initialDepth = 1767.297066; finalDepth = 1765.134427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1602540000001 # Actual altitude: 51.1602540000001 # Commanded vehicle depth:1765.134427 # Seafloor depth:-1815.913639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1817.297066 meters looking forward 100.000000 meters along route # Maximum depth: 1820.982211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.297066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700706; longitude = -122.086012; captureRadius = 10; duration = 84; initialDepth = 1770.247459; finalDepth = 1767.297066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0385589999999 # Actual altitude: 51.0385589999999 # Commanded vehicle depth:1767.297066 # Seafloor depth:-1818.335625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1820.247459 meters looking forward 100.000000 meters along route # Maximum depth: 1821.900667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.247459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700340; longitude = -122.086796; captureRadius = 10; duration = 84; initialDepth = 1771.712454; finalDepth = 1770.247459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0385589999999 # Actual altitude: 51.0385589999999 # Commanded vehicle depth:1770.247459 # Seafloor depth:-1820.247459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1821.712454 meters looking forward 100.000000 meters along route # Maximum depth: 1823.456017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.712454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699973; longitude = -122.087581; captureRadius = 10; duration = 84; initialDepth = 1773.261678; finalDepth = 1771.712454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.032987 # Actual altitude: 50.032987 # Commanded vehicle depth:1771.712454 # Seafloor depth:-1821.745441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1823.261678 meters looking forward 100.000000 meters along route # Maximum depth: 1825.949244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.261678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.088310; captureRadius = 10; duration = 84; initialDepth = 1775.237077; finalDepth = 1773.261678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2020679999998 # Actual altitude: 50.2020679999998 # Commanded vehicle depth:1773.261678 # Seafloor depth:-1823.463746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1825.237077 meters looking forward 100.000000 meters along route # Maximum depth: 1827.686968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.237077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699271; longitude = -122.089081; captureRadius = 10; duration = 84; initialDepth = 1776.932637; finalDepth = 1775.237077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2020679999998 # Actual altitude: 50.2020679999998 # Commanded vehicle depth:1775.237077 # Seafloor depth:-1825.237077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.477679 meters # Minimum depth: 1826.932637 meters looking forward 100.000000 meters along route # Maximum depth: 1831.469221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.932637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698925; longitude = -122.089821; captureRadius = 10; duration = 84; initialDepth = 1780.512442; finalDepth = 1776.932637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6114309999998 # Actual altitude: 51.6114309999998 # Commanded vehicle depth:1776.932637 # Seafloor depth:-1828.544068 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 84.477679 meters # Minimum depth: 1830.512442 meters looking forward 100.000000 meters along route # Maximum depth: 1833.437100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.512442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.090550; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1783.424589; finalDepth = 1780.512442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6114309999998 # Actual altitude: 51.6114309999998 # Commanded vehicle depth:1780.512442 # Seafloor depth:-1831.968018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1833.424589 meters looking forward 100.000000 meters along route # Maximum depth: 1836.641048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.424589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698956; longitude = -122.091278; captureRadius = 10; duration = 84; initialDepth = 1786.137784; finalDepth = 1783.424589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4555760000001 # Actual altitude: 51.4555760000001 # Commanded vehicle depth:1783.424589 # Seafloor depth:-1833.508173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1836.137784 meters looking forward 100.000000 meters along route # Maximum depth: 1837.183543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.137784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699361; longitude = -122.092071; captureRadius = 10; duration = 84; initialDepth = 1786.461906; finalDepth = 1786.137784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5391159999999 # Actual altitude: 50.5391159999999 # Commanded vehicle depth:1786.137784 # Seafloor depth:-1836.676900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1836.461906 meters looking forward 100.000000 meters along route # Maximum depth: 1841.690386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.461906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699757; longitude = -122.092846; captureRadius = 10; duration = 84; initialDepth = 1791.157899; finalDepth = 1786.461906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5391159999999 # Actual altitude: 50.5391159999999 # Commanded vehicle depth:1786.461906 # Seafloor depth:-1836.750263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1841.157899 meters looking forward 100.000000 meters along route # Maximum depth: 1843.672102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.157899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700158; longitude = -122.093630; captureRadius = 10; duration = 84; initialDepth = 1792.463928; finalDepth = 1791.157899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8937779999999 # Actual altitude: 51.8937779999999 # Commanded vehicle depth:1791.157899 # Seafloor depth:-1843.051677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1842.463928 meters looking forward 100.000000 meters along route # Maximum depth: 1846.679221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.463928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700533; longitude = -122.094364; captureRadius = 10; duration = 84; initialDepth = 1795.957723; finalDepth = 1792.463928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8937779999999 # Actual altitude: 51.8937779999999 # Commanded vehicle depth:1792.463928 # Seafloor depth:-1842.858502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1845.957723 meters looking forward 100.000000 meters along route # Maximum depth: 1847.601241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.957723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700902; longitude = -122.095087; captureRadius = 10; duration = 84; initialDepth = 1795.957723; finalDepth = 1795.957723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7956839999999 # Actual altitude: 50.7956839999999 # Commanded vehicle depth:1795.957723 # Seafloor depth:-1846.753407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1845.957723 meters looking forward 100.000000 meters along route # Maximum depth: 1849.029080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.957723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701303; longitude = -122.095871; captureRadius = 10; duration = 84; initialDepth = 1798.880618; finalDepth = 1795.957723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7956839999999 # Actual altitude: 50.7956839999999 # Commanded vehicle depth:1795.957723 # Seafloor depth:-1846.001257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1848.880618 meters looking forward 100.000000 meters along route # Maximum depth: 1851.487229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.880618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.096656; captureRadius = 10; duration = 84; initialDepth = 1800.758932; finalDepth = 1798.880618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1493190000001 # Actual altitude: 50.1493190000001 # Commanded vehicle depth:1798.880618 # Seafloor depth:-1849.029937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1850.758932 meters looking forward 100.000000 meters along route # Maximum depth: 1854.012142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.758932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702104; longitude = -122.097439; captureRadius = 10; duration = 84; initialDepth = 1800.272925; finalDepth = 1800.758932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7692650000001 # Actual altitude: 50.7692650000001 # Commanded vehicle depth:1800.758932 # Seafloor depth:-1851.528197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.08; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1850.272925 meters looking forward 100.000000 meters along route # Maximum depth: 1854.961445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.272925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.098243; captureRadius = 10; duration = 84; initialDepth = 1799.411271; finalDepth = 1800.272925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8653240000001 # Actual altitude: 53.8653240000001 # Commanded vehicle depth:1800.272925 # Seafloor depth:-1854.138249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1849.411271 meters looking forward 100.000000 meters along route # Maximum depth: 1854.044139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.411271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702906; longitude = -122.099008; captureRadius = 10; duration = 84; initialDepth = 1802.920665; finalDepth = 1799.411271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8653240000001 # Actual altitude: 53.8653240000001 # Commanded vehicle depth:1799.411271 # Seafloor depth:-1849.830211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1852.920665 meters looking forward 100.000000 meters along route # Maximum depth: 1854.419484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.920665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703306; longitude = -122.099792; captureRadius = 10; duration = 84; initialDepth = 1802.879160; finalDepth = 1802.920665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.409193 # Actual altitude: 51.409193 # Commanded vehicle depth:1802.920665 # Seafloor depth:-1854.329858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1852.879160 meters looking forward 100.000000 meters along route # Maximum depth: 1853.115457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.879160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703687; longitude = -122.100536; captureRadius = 10; duration = 84; initialDepth = 1802.980617; finalDepth = 1802.879160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.409193 # Actual altitude: 51.409193 # Commanded vehicle depth:1802.87916 # Seafloor depth:-1852.899039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1852.980617 meters looking forward 100.000000 meters along route # Maximum depth: 1853.838727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.980617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704051; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1800.412315; finalDepth = 1802.980617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1105850000001 # Actual altitude: 50.1105850000001 # Commanded vehicle depth:1802.980617 # Seafloor depth:-1853.091202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1850.412315 meters looking forward 100.000000 meters along route # Maximum depth: 1853.509197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.412315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704451; longitude = -122.102032; captureRadius = 10; duration = 84; initialDepth = 1796.945403; finalDepth = 1800.412315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6063730000001 # Actual altitude: 52.6063730000001 # Commanded vehicle depth:1800.412315 # Seafloor depth:-1853.018688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1846.945403 meters looking forward 100.000000 meters along route # Maximum depth: 1851.010279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.945403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704858; longitude = -122.102828; captureRadius = 10; duration = 84; initialDepth = 1793.326299; finalDepth = 1796.945403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.731323 # Actual altitude: 53.731323 # Commanded vehicle depth:1796.945403 # Seafloor depth:-1850.676726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1843.326299 meters looking forward 100.000000 meters along route # Maximum depth: 1847.220958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.326299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705253; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1788.849169; finalDepth = 1793.326299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.731323 # Actual altitude: 53.731323 # Commanded vehicle depth:1793.326299 # Seafloor depth:-1846.643769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1838.849169 meters looking forward 100.000000 meters along route # Maximum depth: 1843.612776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.849169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705654; longitude = -122.104385; captureRadius = 10; duration = 84; initialDepth = 1784.130888; finalDepth = 1788.849169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.529505 # Actual altitude: 53.529505 # Commanded vehicle depth:1788.849169 # Seafloor depth:-1842.378674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1834.130888 meters looking forward 100.000000 meters along route # Maximum depth: 1839.582912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.130888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.105121; captureRadius = 10; duration = 84; initialDepth = 1776.692120; finalDepth = 1784.130888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3581140000001 # Actual altitude: 54.3581140000001 # Commanded vehicle depth:1784.130888 # Seafloor depth:-1838.489002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1826.692120 meters looking forward 100.000000 meters along route # Maximum depth: 1835.161215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.692120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706398; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1767.904485; finalDepth = 1776.692120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2823950000002 # Actual altitude: 57.2823950000002 # Commanded vehicle depth:1776.69212 # Seafloor depth:-1833.974515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1817.904485 meters looking forward 100.000000 meters along route # Maximum depth: 1826.827058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.904485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706798; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1758.983664; finalDepth = 1767.904485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.33854 # Actual altitude: 58.33854 # Commanded vehicle depth:1767.904485 # Seafloor depth:-1826.243025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1808.983664 meters looking forward 100.000000 meters along route # Maximum depth: 1819.058295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.983664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707201; longitude = -122.107414; captureRadius = 10; duration = 84; initialDepth = 1744.554278; finalDepth = 1758.983664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8862899999999 # Actual altitude: 58.8862899999999 # Commanded vehicle depth:1758.983664 # Seafloor depth:-1817.869954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1794.554278 meters looking forward 100.000000 meters along route # Maximum depth: 1809.556988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.554278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707600; longitude = -122.108194; captureRadius = 10; duration = 84; initialDepth = 1733.915809; finalDepth = 1744.554278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.234033 # Actual altitude: 63.234033 # Commanded vehicle depth:1744.554278 # Seafloor depth:-1807.788311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1783.915809 meters looking forward 100.000000 meters along route # Maximum depth: 1796.885763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.915809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708012; longitude = -122.109001; captureRadius = 10; duration = 84; initialDepth = 1722.880145; finalDepth = 1733.915809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.234033 # Actual altitude: 63.234033 # Commanded vehicle depth:1733.915809 # Seafloor depth:-1794.148500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1772.880145 meters looking forward 100.000000 meters along route # Maximum depth: 1784.464721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.880145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708401; longitude = -122.109762; captureRadius = 10; duration = 84; initialDepth = 1710.491953; finalDepth = 1722.880145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.492567 # Actual altitude: 60.492567 # Commanded vehicle depth:1722.880145 # Seafloor depth:-1783.372712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 241.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1760.491953 meters looking forward 100.000000 meters along route # Maximum depth: 1773.529391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.491953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708802; longitude = -122.110547; captureRadius = 10; duration = 84; initialDepth = 1702.642040; finalDepth = 1710.491953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.492567 # Actual altitude: 60.492567 # Commanded vehicle depth:1710.491953 # Seafloor depth:-1770.326068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 241.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1752.642040 meters looking forward 100.000000 meters along route # Maximum depth: 1761.934274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.642040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.111293; captureRadius = 10; duration = 84; initialDepth = 1694.056707; finalDepth = 1702.642040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8341150000001 # Actual altitude: 59.8341150000001 # Commanded vehicle depth:1702.64204 # Seafloor depth:-1759.473740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1744.056707 meters looking forward 100.000000 meters along route # Maximum depth: 1753.636187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.056707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709546; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1687.739033; finalDepth = 1694.056707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5412410000001 # Actual altitude: 58.5412410000001 # Commanded vehicle depth:1694.056707 # Seafloor depth:-1752.597948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1737.739033 meters looking forward 100.000000 meters along route # Maximum depth: 1744.264618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.739033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709947; longitude = -122.112787; captureRadius = 10; duration = 84; initialDepth = 1679.310908; finalDepth = 1687.739033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5412410000001 # Actual altitude: 58.5412410000001 # Commanded vehicle depth:1687.739033 # Seafloor depth:-1743.478772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1729.310908 meters looking forward 100.000000 meters along route # Maximum depth: 1738.958648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.310908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.113586; captureRadius = 10; duration = 84; initialDepth = 1672.165316; finalDepth = 1679.310908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2953660000001 # Actual altitude: 58.2953660000001 # Commanded vehicle depth:1679.310908 # Seafloor depth:-1737.606274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1722.165316 meters looking forward 100.000000 meters along route # Maximum depth: 1729.911232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.165316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710748; longitude = -122.114356; captureRadius = 10; duration = 84; initialDepth = 1662.458350; finalDepth = 1672.165316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2953660000001 # Actual altitude: 58.2953660000001 # Commanded vehicle depth:1672.165316 # Seafloor depth:-1728.611609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1712.458350 meters looking forward 100.000000 meters along route # Maximum depth: 1722.390974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.458350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711149; longitude = -122.115140; captureRadius = 10; duration = 84; initialDepth = 1647.486839; finalDepth = 1662.458350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.011949 # Actual altitude: 59.011949 # Commanded vehicle depth:1662.45835 # Seafloor depth:-1721.470299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1697.486839 meters looking forward 100.000000 meters along route # Maximum depth: 1715.026420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.486839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711527; longitude = -122.115879; captureRadius = 10; duration = 84; initialDepth = 1631.690501; finalDepth = 1647.486839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.4922530000001 # Actual altitude: 63.4922530000001 # Commanded vehicle depth:1647.486839 # Seafloor depth:-1710.979092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 253.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1681.690501 meters looking forward 100.000000 meters along route # Maximum depth: 1699.257021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.690501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711893; longitude = -122.116596; captureRadius = 10; duration = 84; initialDepth = 1620.560553; finalDepth = 1631.690501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6050290000001 # Actual altitude: 65.6050290000001 # Commanded vehicle depth:1631.690501 # Seafloor depth:-1697.295530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 262.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1670.560553 meters looking forward 100.000000 meters along route # Maximum depth: 1682.024060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.560553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712294; longitude = -122.117380; captureRadius = 10; duration = 84; initialDepth = 1615.806679; finalDepth = 1620.560553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6050290000001 # Actual altitude: 65.6050290000001 # Commanded vehicle depth:1620.560553 # Seafloor depth:-1680.608389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 262.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.477679 meters # Minimum depth: 1665.806679 meters looking forward 100.000000 meters along route # Maximum depth: 1672.352296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.806679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712698; longitude = -122.118171; captureRadius = 10; duration = 84; initialDepth = 1615.806679; finalDepth = 1615.806679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.047836 # Actual altitude: 60.047836 # Commanded vehicle depth:1615.806679 # Seafloor depth:-1670.497561 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 84.477679 meters # Minimum depth: 1665.806679 meters looking forward 100.000000 meters along route # Maximum depth: 1670.560553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.806679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713089; longitude = -122.118936; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1615.806679; finalDepth = 1615.806679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6908819999999 # Actual altitude: 54.6908819999999 # Commanded vehicle depth:1615.806679 # Seafloor depth:-1666.043152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1665.806679 meters looking forward 100.000000 meters along route # Maximum depth: 1675.918296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.806679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713149; longitude = -122.118815; captureRadius = 10; duration = 84; initialDepth = 1623.970865; finalDepth = 1615.806679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9652189999999 # Actual altitude: 50.9652189999999 # Commanded vehicle depth:1615.806679 # Seafloor depth:-1666.771898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1673.970865 meters looking forward 100.000000 meters along route # Maximum depth: 1687.822985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.970865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713509; longitude = -122.118087; captureRadius = 10; duration = 84; initialDepth = 1635.469570; finalDepth = 1623.970865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.163605 # Actual altitude: 53.163605 # Commanded vehicle depth:1623.970865 # Seafloor depth:-1677.134470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1685.469570 meters looking forward 100.000000 meters along route # Maximum depth: 1695.009752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.469570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713870; longitude = -122.117358; captureRadius = 10; duration = 84; initialDepth = 1639.650711; finalDepth = 1635.469570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.163605 # Actual altitude: 53.163605 # Commanded vehicle depth:1635.46957 # Seafloor depth:-1688.140632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1689.650711 meters looking forward 100.000000 meters along route # Maximum depth: 1695.197706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.650711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714230; longitude = -122.116629; captureRadius = 10; duration = 84; initialDepth = 1630.896944; finalDepth = 1639.650711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5139039999999 # Actual altitude: 55.5139039999999 # Commanded vehicle depth:1639.650711 # Seafloor depth:-1695.164615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1680.896944 meters looking forward 100.000000 meters along route # Maximum depth: 1691.256013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.896944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714591; longitude = -122.115901; captureRadius = 10; duration = 84; initialDepth = 1625.975230; finalDepth = 1630.896944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.455471 # Actual altitude: 58.455471 # Commanded vehicle depth:1630.896944 # Seafloor depth:-1689.352415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1675.975230 meters looking forward 100.000000 meters along route # Maximum depth: 1682.207859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.975230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714951; longitude = -122.115172; captureRadius = 10; duration = 84; initialDepth = 1626.365404; finalDepth = 1625.975230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.455471 # Actual altitude: 58.455471 # Commanded vehicle depth:1625.97523 # Seafloor depth:-1680.062748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1676.365404 meters looking forward 100.000000 meters along route # Maximum depth: 1687.287108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.365404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715312; longitude = -122.114444; captureRadius = 10; duration = 84; initialDepth = 1634.114948; finalDepth = 1626.365404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.087518 # Actual altitude: 54.087518 # Commanded vehicle depth:1626.365404 # Seafloor depth:-1678.094688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1684.114948 meters looking forward 100.000000 meters along route # Maximum depth: 1689.295867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.114948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715672; longitude = -122.113715; captureRadius = 10; duration = 84; initialDepth = 1623.534755; finalDepth = 1634.114948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1773850000002 # Actual altitude: 54.1773850000002 # Commanded vehicle depth:1634.114948 # Seafloor depth:-1688.292333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1673.534755 meters looking forward 100.000000 meters along route # Maximum depth: 1685.930360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.534755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716032; longitude = -122.112987; captureRadius = 10; duration = 84; initialDepth = 1617.590176; finalDepth = 1623.534755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3155750000001 # Actual altitude: 60.3155750000001 # Commanded vehicle depth:1623.534755 # Seafloor depth:-1683.850330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1667.590176 meters looking forward 100.000000 meters along route # Maximum depth: 1675.984791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.590176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716393; longitude = -122.112258; captureRadius = 10; duration = 84; initialDepth = 1616.877583; finalDepth = 1617.590176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3155750000001 # Actual altitude: 60.3155750000001 # Commanded vehicle depth:1617.590176 # Seafloor depth:-1672.115055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1666.877583 meters looking forward 100.000000 meters along route # Maximum depth: 1675.777077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.877583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716753; longitude = -122.111529; captureRadius = 10; duration = 84; initialDepth = 1622.726953; finalDepth = 1616.877583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5248790000001 # Actual altitude: 54.5248790000001 # Commanded vehicle depth:1616.877583 # Seafloor depth:-1667.475200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1672.726953 meters looking forward 100.000000 meters along route # Maximum depth: 1684.162818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.726953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717114; longitude = -122.110801; captureRadius = 10; duration = 84; initialDepth = 1633.170734; finalDepth = 1622.726953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7467219999999 # Actual altitude: 54.7467219999999 # Commanded vehicle depth:1622.726953 # Seafloor depth:-1677.473675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1683.170734 meters looking forward 100.000000 meters along route # Maximum depth: 1686.488918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.170734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717474; longitude = -122.110072; captureRadius = 10; duration = 84; initialDepth = 1625.107179; finalDepth = 1633.170734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7467219999999 # Actual altitude: 54.7467219999999 # Commanded vehicle depth:1633.170734 # Seafloor depth:-1684.321611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1675.107179 meters looking forward 100.000000 meters along route # Maximum depth: 1686.488918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.107179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717835; longitude = -122.109344; captureRadius = 10; duration = 84; initialDepth = 1612.082874; finalDepth = 1625.107179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.662748 # Actual altitude: 60.662748 # Commanded vehicle depth:1625.107179 # Seafloor depth:-1685.769927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 242.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1662.082874 meters looking forward 100.000000 meters along route # Maximum depth: 1678.223375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.082874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718195; longitude = -122.108615; captureRadius = 10; duration = 84; initialDepth = 1608.190567; finalDepth = 1612.082874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.578311 # Actual altitude: 62.578311 # Commanded vehicle depth:1612.082874 # Seafloor depth:-1674.661185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1658.190567 meters looking forward 100.000000 meters along route # Maximum depth: 1665.676996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.190567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718556; longitude = -122.107887; captureRadius = 10; duration = 84; initialDepth = 1602.950561; finalDepth = 1608.190567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.578311 # Actual altitude: 62.578311 # Commanded vehicle depth:1608.190567 # Seafloor depth:-1659.893737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1652.950561 meters looking forward 100.000000 meters along route # Maximum depth: 1662.677526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.950561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718916; longitude = -122.107158; captureRadius = 10; duration = 84; initialDepth = 1602.676025; finalDepth = 1602.950561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1497909999998 # Actual altitude: 58.1497909999998 # Commanded vehicle depth:1602.950561 # Seafloor depth:-1661.100352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1652.676025 meters looking forward 100.000000 meters along route # Maximum depth: 1655.000427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.676025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719290; longitude = -122.106402; captureRadius = 10; duration = 84; initialDepth = 1604.702353; finalDepth = 1602.676025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1497909999998 # Actual altitude: 58.1497909999998 # Commanded vehicle depth:1602.676025 # Seafloor depth:-1652.756978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.477679 meters # Minimum depth: 1654.702353 meters looking forward 100.000000 meters along route # Maximum depth: 1658.507742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.702353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719678; longitude = -122.105617; captureRadius = 10; duration = 84; initialDepth = 1608.366661; finalDepth = 1604.702353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0809529999999 # Actual altitude: 50.0809529999999 # Commanded vehicle depth:1604.702353 # Seafloor depth:-1654.702353 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 84.477679 meters # Minimum depth: 1658.366661 meters looking forward 100.000000 meters along route # Maximum depth: 1660.156532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.366661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720064; longitude = -122.104838; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1609.236294; finalDepth = 1608.366661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0595470000001 # Actual altitude: 50.0595470000001 # Commanded vehicle depth:1608.366661 # Seafloor depth:-1658.426208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.477679 meters # Minimum depth: 1659.236294 meters looking forward 100.000000 meters along route # Maximum depth: 1673.636129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.236294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719547; longitude = -122.104443; captureRadius = 10; duration = 84; initialDepth = 1609.633347; finalDepth = 1609.236294; 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: 50.0595470000001 # Actual altitude: 50.0595470000001 # Commanded vehicle depth:1609.236294 # Seafloor depth:-1659.236294 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 84.477679 meters # Minimum depth: 1659.633347 meters looking forward 100.000000 meters along route # Maximum depth: 1674.351654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.633347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718912; longitude = -122.103959; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1615.097615; finalDepth = 1609.633347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7183070000001 # Actual altitude: 64.7183070000001 # Commanded vehicle depth:1609.633347 # Seafloor depth:-1674.351654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 258.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1673.636129 meters looking forward 100.000000 meters along route # Maximum depth: 1676.748167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.097615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718826; longitude = -122.104133; captureRadius = 10; duration = 84; initialDepth = 1626.272899; finalDepth = 1615.097615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7183070000001 # Actual altitude: 64.7183070000001 # Commanded vehicle depth:1615.0976154 # Seafloor depth:-1674.133742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 258.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1676.272899 meters looking forward 100.000000 meters along route # Maximum depth: 1680.536597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.272899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718466; longitude = -122.104861; captureRadius = 10; duration = 84; initialDepth = 1629.423041; finalDepth = 1626.272899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0361265999986 # Actual altitude: 59.0361265999986 # Commanded vehicle depth:1626.272899 # Seafloor depth:-1676.876465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1679.423041 meters looking forward 100.000000 meters along route # Maximum depth: 1689.766671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.423041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718105; longitude = -122.105590; captureRadius = 10; duration = 84; initialDepth = 1638.382443; finalDepth = 1629.423041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2681279999999 # Actual altitude: 52.2681279999999 # Commanded vehicle depth:1629.423041 # Seafloor depth:-1681.691169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1688.382443 meters looking forward 100.000000 meters along route # Maximum depth: 1699.091411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.382443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717745; longitude = -122.106318; captureRadius = 10; duration = 84; initialDepth = 1644.323991; finalDepth = 1638.382443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2681279999999 # Actual altitude: 52.2681279999999 # Commanded vehicle depth:1638.382443 # Seafloor depth:-1690.087831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1694.323991 meters looking forward 100.000000 meters along route # Maximum depth: 1700.716346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.323991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717384; longitude = -122.107047; captureRadius = 10; duration = 84; initialDepth = 1640.842386; finalDepth = 1644.323991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.609479 # Actual altitude: 55.609479 # Commanded vehicle depth:1644.323991 # Seafloor depth:-1699.933470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1690.842386 meters looking forward 100.000000 meters along route # Maximum depth: 1696.370601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.842386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717024; longitude = -122.107776; captureRadius = 10; duration = 84; initialDepth = 1641.560030; finalDepth = 1640.842386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.609479 # Actual altitude: 55.609479 # Commanded vehicle depth:1640.842386 # Seafloor depth:-1694.050531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1691.560030 meters looking forward 100.000000 meters along route # Maximum depth: 1700.448675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.560030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716663; longitude = -122.108504; captureRadius = 10; duration = 84; initialDepth = 1646.497094; finalDepth = 1641.560030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2081450000001 # Actual altitude: 53.2081450000001 # Commanded vehicle depth:1641.56003 # Seafloor depth:-1694.253629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1696.497094 meters looking forward 100.000000 meters along route # Maximum depth: 1700.448675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.497094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716303; longitude = -122.109233; captureRadius = 10; duration = 84; initialDepth = 1638.560805; finalDepth = 1646.497094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5607599999998 # Actual altitude: 53.5607599999998 # Commanded vehicle depth:1646.497094 # Seafloor depth:-1700.057854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.24; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1688.560805 meters looking forward 100.000000 meters along route # Maximum depth: 1697.061668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.560805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715942; longitude = -122.109961; captureRadius = 10; duration = 84; initialDepth = 1638.558419; finalDepth = 1638.560805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2816889999999 # Actual altitude: 57.2816889999999 # Commanded vehicle depth:1638.560805 # Seafloor depth:-1695.842494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1688.558419 meters looking forward 100.000000 meters along route # Maximum depth: 1699.796755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.558419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.110690; captureRadius = 10; duration = 84; initialDepth = 1646.639600; finalDepth = 1638.558419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2816889999999 # Actual altitude: 57.2816889999999 # Commanded vehicle depth:1638.558419 # Seafloor depth:-1688.573705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1696.639600 meters looking forward 100.000000 meters along route # Maximum depth: 1706.917811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.639600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.111418; captureRadius = 10; duration = 84; initialDepth = 1645.906376; finalDepth = 1646.639600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.003215 # Actual altitude: 55.003215 # Commanded vehicle depth:1646.6396 # Seafloor depth:-1701.642815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1695.906376 meters looking forward 100.000000 meters along route # Maximum depth: 1706.917811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.906376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714861; longitude = -122.112147; captureRadius = 10; duration = 84; initialDepth = 1645.906376; finalDepth = 1645.906376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1625180000001 # Actual altitude: 60.1625180000001 # Commanded vehicle depth:1645.906376 # Seafloor depth:-1706.068894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1695.906376 meters looking forward 100.000000 meters along route # Maximum depth: 1701.077826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.906376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714501; longitude = -122.112876; captureRadius = 10; duration = 84; initialDepth = 1638.979340; finalDepth = 1645.906376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1625180000001 # Actual altitude: 60.1625180000001 # Commanded vehicle depth:1645.906376 # Seafloor depth:-1696.478778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1688.979340 meters looking forward 100.000000 meters along route # Maximum depth: 1701.077826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.979340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714140; longitude = -122.113604; captureRadius = 10; duration = 84; initialDepth = 1638.033719; finalDepth = 1638.979340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9382799999998 # Actual altitude: 61.9382799999998 # Commanded vehicle depth:1638.97934 # Seafloor depth:-1700.917620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1688.033719 meters looking forward 100.000000 meters along route # Maximum depth: 1704.740854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.033719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.114333; captureRadius = 10; duration = 84; initialDepth = 1650.999330; finalDepth = 1638.033719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9382799999998 # Actual altitude: 61.9382799999998 # Commanded vehicle depth:1638.033719 # Seafloor depth:-1688.126309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1700.999330 meters looking forward 100.000000 meters along route # Maximum depth: 1712.440098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.999330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713419; longitude = -122.115061; captureRadius = 10; duration = 84; initialDepth = 1641.634822; finalDepth = 1650.999330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5695139999998 # Actual altitude: 54.5695139999998 # Commanded vehicle depth:1650.99933 # Seafloor depth:-1705.568844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1691.634822 meters looking forward 100.000000 meters along route # Maximum depth: 1712.260231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.634822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.115790; captureRadius = 10; duration = 84; initialDepth = 1631.471023; finalDepth = 1641.634822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.288718 # Actual altitude: 67.288718 # Commanded vehicle depth:1641.634822 # Seafloor depth:-1708.923540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1681.471023 meters looking forward 100.000000 meters along route # Maximum depth: 1694.136473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.471023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712698; longitude = -122.116518; captureRadius = 10; duration = 84; initialDepth = 1630.736733; finalDepth = 1631.471023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.288718 # Actual altitude: 67.288718 # Commanded vehicle depth:1631.471023 # Seafloor depth:-1691.025201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.477679 meters # Minimum depth: 1680.736733 meters looking forward 100.000000 meters along route # Maximum depth: 1682.376926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.736733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712327; longitude = -122.117268; captureRadius = 10; duration = 84; initialDepth = 1630.150909; finalDepth = 1630.736733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5541779999999 # Actual altitude: 59.5541779999999 # Commanded vehicle depth:1630.736733 # Seafloor depth:-1681.268473 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 84.477679 meters # Minimum depth: 1680.150909 meters looking forward 100.000000 meters along route # Maximum depth: 1686.807161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.150909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711937; longitude = -122.118057; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1636.417933; finalDepth = 1630.150909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5317400000001 # Actual altitude: 50.5317400000001 # Commanded vehicle depth:1630.150909 # Seafloor depth:-1680.150909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.477679 meters # Minimum depth: 1686.417933 meters looking forward 100.000000 meters along route # Maximum depth: 1705.625880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.417933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711437; longitude = -122.117675; captureRadius = 10; duration = 84; initialDepth = 1639.550182; finalDepth = 1636.417933; 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: 51.1641990000001 # Actual altitude: 51.1641990000001 # Commanded vehicle depth:1636.417933 # Seafloor depth:-1687.582132 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 84.477679 meters # Minimum depth: 1689.550182 meters looking forward 100.000000 meters along route # Maximum depth: 1707.455902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.550182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710785; longitude = -122.117178; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1646.600998; finalDepth = 1639.550182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.90572 # Actual altitude: 67.90572 # Commanded vehicle depth:1639.550182 # Seafloor depth:-1707.455902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 271.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1700.004405 meters looking forward 100.000000 meters along route # Maximum depth: 1707.455902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.600998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710896; longitude = -122.116954; captureRadius = 10; duration = 84; initialDepth = 1652.657873; finalDepth = 1646.600998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.90572 # Actual altitude: 67.90572 # Commanded vehicle depth:1646.6009983 # Seafloor depth:-1701.938653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 271.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1702.657873 meters looking forward 100.000000 meters along route # Maximum depth: 1715.361792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.657873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711256; longitude = -122.116225; captureRadius = 10; duration = 84; initialDepth = 1664.205849; finalDepth = 1652.657873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3376546999987 # Actual altitude: 55.3376546999987 # Commanded vehicle depth:1652.657873 # Seafloor depth:-1705.765738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1714.205849 meters looking forward 100.000000 meters along route # Maximum depth: 1719.963269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.205849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.115497; captureRadius = 10; duration = 84; initialDepth = 1666.238360; finalDepth = 1664.205849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1078649999999 # Actual altitude: 53.1078649999999 # Commanded vehicle depth:1664.205849 # Seafloor depth:-1716.007818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1716.238360 meters looking forward 100.000000 meters along route # Maximum depth: 1720.256840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.238360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711977; longitude = -122.114768; captureRadius = 10; duration = 84; initialDepth = 1655.911862; finalDepth = 1666.238360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8505579999999 # Actual altitude: 53.8505579999999 # Commanded vehicle depth:1666.23836 # Seafloor depth:-1720.088918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1705.911862 meters looking forward 100.000000 meters along route # Maximum depth: 1717.591299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.911862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712338; longitude = -122.114039; captureRadius = 10; duration = 84; initialDepth = 1655.911862; finalDepth = 1655.911862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0884600000002 # Actual altitude: 59.0884600000002 # Commanded vehicle depth:1655.911862 # Seafloor depth:-1715.000322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1705.911862 meters looking forward 100.000000 meters along route # Maximum depth: 1710.687693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.911862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712698; longitude = -122.113311; captureRadius = 10; duration = 84; initialDepth = 1660.308830; finalDepth = 1655.911862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0884600000002 # Actual altitude: 59.0884600000002 # Commanded vehicle depth:1655.911862 # Seafloor depth:-1706.048937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1710.308830 meters looking forward 100.000000 meters along route # Maximum depth: 1714.370207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.308830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.112582; captureRadius = 10; duration = 84; initialDepth = 1663.003578; finalDepth = 1660.308830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6488770000001 # Actual altitude: 50.6488770000001 # Commanded vehicle depth:1660.30883 # Seafloor depth:-1710.957707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1713.003578 meters looking forward 100.000000 meters along route # Maximum depth: 1727.316560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.003578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713419; longitude = -122.111853; captureRadius = 10; duration = 84; initialDepth = 1670.004128; finalDepth = 1663.003578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.875945 # Actual altitude: 51.875945 # Commanded vehicle depth:1663.003578 # Seafloor depth:-1714.879523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1720.004128 meters looking forward 100.000000 meters along route # Maximum depth: 1728.410639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.004128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.111125; captureRadius = 10; duration = 84; initialDepth = 1658.308453; finalDepth = 1670.004128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3165899999999 # Actual altitude: 58.3165899999999 # Commanded vehicle depth:1670.004128 # Seafloor depth:-1728.320718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1708.308453 meters looking forward 100.000000 meters along route # Maximum depth: 1723.441040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.308453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714140; longitude = -122.110396; captureRadius = 10; duration = 84; initialDepth = 1657.235212; finalDepth = 1658.308453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6344219999999 # Actual altitude: 60.6344219999999 # Commanded vehicle depth:1658.308453 # Seafloor depth:-1718.942875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1707.235212 meters looking forward 100.000000 meters along route # Maximum depth: 1715.059797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.235212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714501; longitude = -122.109668; captureRadius = 10; duration = 84; initialDepth = 1662.235692; finalDepth = 1657.235212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6344219999999 # Actual altitude: 60.6344219999999 # Commanded vehicle depth:1657.235212 # Seafloor depth:-1707.676316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1712.235692 meters looking forward 100.000000 meters along route # Maximum depth: 1721.281107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.235692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714861; longitude = -122.108939; captureRadius = 10; duration = 84; initialDepth = 1662.859635; finalDepth = 1662.235692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6675970000001 # Actual altitude: 53.6675970000001 # Commanded vehicle depth:1662.235692 # Seafloor depth:-1715.903289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1712.859635 meters looking forward 100.000000 meters along route # Maximum depth: 1720.961637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.859635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.108210; captureRadius = 10; duration = 84; initialDepth = 1662.859635; finalDepth = 1662.859635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.789111 # Actual altitude: 55.789111 # Commanded vehicle depth:1662.859635 # Seafloor depth:-1718.648746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1712.859635 meters looking forward 100.000000 meters along route # Maximum depth: 1718.535009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.859635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.107482; captureRadius = 10; duration = 84; initialDepth = 1667.335577; finalDepth = 1662.859635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.789111 # Actual altitude: 55.789111 # Commanded vehicle depth:1662.859635 # Seafloor depth:-1712.923254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1717.335577 meters looking forward 100.000000 meters along route # Maximum depth: 1724.861821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.335577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715942; longitude = -122.106753; captureRadius = 10; duration = 84; initialDepth = 1666.168264; finalDepth = 1667.335577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5602819999999 # Actual altitude: 52.5602819999999 # Commanded vehicle depth:1667.335577 # Seafloor depth:-1719.895859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1716.168264 meters looking forward 100.000000 meters along route # Maximum depth: 1724.630922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.168264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716303; longitude = -122.106025; captureRadius = 10; duration = 84; initialDepth = 1655.647053; finalDepth = 1666.168264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2643800000001 # Actual altitude: 57.2643800000001 # Commanded vehicle depth:1666.168264 # Seafloor depth:-1723.432644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1705.647053 meters looking forward 100.000000 meters along route # Maximum depth: 1717.975568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.647053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716663; longitude = -122.105296; captureRadius = 10; duration = 84; initialDepth = 1650.820699; finalDepth = 1655.647053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.142411 # Actual altitude: 59.142411 # Commanded vehicle depth:1655.647053 # Seafloor depth:-1714.789464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1700.820699 meters looking forward 100.000000 meters along route # Maximum depth: 1708.068778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.820699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717024; longitude = -122.104567; captureRadius = 10; duration = 84; initialDepth = 1642.728838; finalDepth = 1650.820699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.142411 # Actual altitude: 59.142411 # Commanded vehicle depth:1650.820699 # Seafloor depth:-1705.001982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.477679 meters # Minimum depth: 1692.728838 meters looking forward 100.000000 meters along route # Maximum depth: 1700.940312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.728838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717391; longitude = -122.103825; captureRadius = 10; duration = 84; initialDepth = 1642.074127; finalDepth = 1642.728838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.114908 # Actual altitude: 58.114908 # Commanded vehicle depth:1642.728838 # Seafloor depth:-1700.843746 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 84.477679 meters # Minimum depth: 1692.074127 meters looking forward 100.000000 meters along route # Maximum depth: 1698.956937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.074127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717760; longitude = -122.103079; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1647.345761; finalDepth = 1642.074127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.114908 # Actual altitude: 58.114908 # Commanded vehicle depth:1642.074127 # Seafloor depth:-1692.074127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 84.477679 meters # Minimum depth: 1697.345761 meters looking forward 100.000000 meters along route # Maximum depth: 1699.903103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.345761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717204; longitude = -122.102655; captureRadius = 10; duration = 84; initialDepth = 1647.345761; finalDepth = 1647.345761; 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: 52.174209 # Actual altitude: 52.174209 # Commanded vehicle depth:1647.345761 # Seafloor depth:-1699.519970 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 84.477679 meters # Minimum depth: 1697.345761 meters looking forward 100.000000 meters along route # Maximum depth: 1699.903103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.345761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716608; longitude = -122.102200; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1648.316571; finalDepth = 1647.345761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.174209 # Actual altitude: 52.174209 # Commanded vehicle depth:1647.345761 # Seafloor depth:-1697.510468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1698.316571 meters looking forward 100.000000 meters along route # Maximum depth: 1718.394570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.316571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716483; longitude = -122.102453; captureRadius = 10; duration = 84; initialDepth = 1664.251022; finalDepth = 1648.316571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.89507 # Actual altitude: 52.89507 # Commanded vehicle depth:1648.316571 # Seafloor depth:-1701.211641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1714.251022 meters looking forward 100.000000 meters along route # Maximum depth: 1732.929720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.251022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716123; longitude = -122.103181; captureRadius = 10; duration = 84; initialDepth = 1681.579267; finalDepth = 1664.251022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8894360000002 # Actual altitude: 54.8894360000002 # Commanded vehicle depth:1664.251022 # Seafloor depth:-1719.140458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1731.579267 meters looking forward 100.000000 meters along route # Maximum depth: 1739.344140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.579267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715762; longitude = -122.103910; captureRadius = 10; duration = 84; initialDepth = 1689.094108; finalDepth = 1681.579267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8894360000002 # Actual altitude: 54.8894360000002 # Commanded vehicle depth:1681.579267 # Seafloor depth:-1733.843156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1739.094108 meters looking forward 100.000000 meters along route # Maximum depth: 1744.851358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.094108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715402; longitude = -122.104638; captureRadius = 10; duration = 84; initialDepth = 1693.168076; finalDepth = 1689.094108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2638889999998 # Actual altitude: 52.2638889999998 # Commanded vehicle depth:1689.094108 # Seafloor depth:-1739.467287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1743.168076 meters looking forward 100.000000 meters along route # Maximum depth: 1751.083737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.168076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715041; longitude = -122.105367; captureRadius = 10; duration = 84; initialDepth = 1691.499944; finalDepth = 1693.168076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.139805 # Actual altitude: 53.139805 # Commanded vehicle depth:1693.168076 # Seafloor depth:-1746.307881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1741.499944 meters looking forward 100.000000 meters along route # Maximum depth: 1751.083737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.499944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714681; longitude = -122.106095; captureRadius = 10; duration = 84; initialDepth = 1690.504090; finalDepth = 1691.499944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8256230000002 # Actual altitude: 58.8256230000002 # Commanded vehicle depth:1691.499944 # Seafloor depth:-1750.325567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1740.504090 meters looking forward 100.000000 meters along route # Maximum depth: 1743.490713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.504090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714320; longitude = -122.106824; captureRadius = 10; duration = 84; initialDepth = 1688.968412; finalDepth = 1690.504090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8256230000002 # Actual altitude: 58.8256230000002 # Commanded vehicle depth:1690.50409 # Seafloor depth:-1740.983914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1738.968412 meters looking forward 100.000000 meters along route # Maximum depth: 1743.930141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.968412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.107553; captureRadius = 10; duration = 84; initialDepth = 1684.326826; finalDepth = 1688.968412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6363180000001 # Actual altitude: 54.6363180000001 # Commanded vehicle depth:1688.968412 # Seafloor depth:-1743.604730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1734.326826 meters looking forward 100.000000 meters along route # Maximum depth: 1740.763607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.326826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713599; longitude = -122.108281; captureRadius = 10; duration = 84; initialDepth = 1684.369617; finalDepth = 1684.326826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6363180000001 # Actual altitude: 54.6363180000001 # Commanded vehicle depth:1684.326826 # Seafloor depth:-1737.735590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1734.369617 meters looking forward 100.000000 meters along route # Maximum depth: 1746.490211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.369617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.109010; captureRadius = 10; duration = 84; initialDepth = 1694.336601; finalDepth = 1684.369617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.408764 # Actual altitude: 53.408764 # Commanded vehicle depth:1684.369617 # Seafloor depth:-1734.916213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1744.336601 meters looking forward 100.000000 meters along route # Maximum depth: 1750.139644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.336601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712878; longitude = -122.109738; captureRadius = 10; duration = 84; initialDepth = 1689.510744; finalDepth = 1694.336601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.291995 # Actual altitude: 53.291995 # Commanded vehicle depth:1694.336601 # Seafloor depth:-1747.628596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1739.510744 meters looking forward 100.000000 meters along route # Maximum depth: 1749.266603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.510744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.110467; captureRadius = 10; duration = 84; initialDepth = 1681.736530; finalDepth = 1689.510744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6076 # Actual altitude: 58.6076 # Commanded vehicle depth:1689.510744 # Seafloor depth:-1748.118344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1731.736530 meters looking forward 100.000000 meters along route # Maximum depth: 1742.267768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.736530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712158; longitude = -122.111195; captureRadius = 10; duration = 84; initialDepth = 1679.694689; finalDepth = 1681.736530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6076 # Actual altitude: 58.6076 # Commanded vehicle depth:1681.73653 # Seafloor depth:-1737.495213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1729.694689 meters looking forward 100.000000 meters along route # Maximum depth: 1731.857249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.694689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711797; longitude = -122.111924; captureRadius = 10; duration = 84; initialDepth = 1679.508965; finalDepth = 1679.694689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.758683 # Actual altitude: 55.758683 # Commanded vehicle depth:1679.694689 # Seafloor depth:-1731.661378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1729.508965 meters looking forward 100.000000 meters along route # Maximum depth: 1736.482521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.508965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711437; longitude = -122.112653; captureRadius = 10; duration = 84; initialDepth = 1683.387530; finalDepth = 1679.508965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9666890000001 # Actual altitude: 51.9666890000001 # Commanded vehicle depth:1679.508965 # Seafloor depth:-1729.527613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1733.387530 meters looking forward 100.000000 meters along route # Maximum depth: 1738.424370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.387530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711076; longitude = -122.113381; captureRadius = 10; duration = 84; initialDepth = 1679.310192; finalDepth = 1683.387530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.537141 # Actual altitude: 53.537141 # Commanded vehicle depth:1683.38753 # Seafloor depth:-1736.924671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1729.310192 meters looking forward 100.000000 meters along route # Maximum depth: 1735.352684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.310192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710716; longitude = -122.114110; captureRadius = 10; duration = 84; initialDepth = 1672.562554; finalDepth = 1679.310192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.537141 # Actual altitude: 53.537141 # Commanded vehicle depth:1679.310192 # Seafloor depth:-1731.899993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1722.562554 meters looking forward 100.000000 meters along route # Maximum depth: 1730.757434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.562554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.114838; captureRadius = 10; duration = 84; initialDepth = 1671.837367; finalDepth = 1672.562554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0953379999999 # Actual altitude: 58.0953379999999 # Commanded vehicle depth:1672.562554 # Seafloor depth:-1730.657892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.477679 meters # Minimum depth: 1721.837367 meters looking forward 100.000000 meters along route # Maximum depth: 1731.541603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.837367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709995; longitude = -122.115567; captureRadius = 10; duration = 84; initialDepth = 1674.965866; finalDepth = 1671.837367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0953379999999 # Actual altitude: 58.0953379999999 # Commanded vehicle depth:1671.837367 # Seafloor depth:-1722.108055 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 84.477679 meters # Minimum depth: 1724.965866 meters looking forward 100.000000 meters along route # Maximum depth: 1741.119266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.965866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709633; longitude = -122.116298; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1690.420712; finalDepth = 1674.965866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.277908 # Actual altitude: 58.277908 # Commanded vehicle depth:1674.965866 # Seafloor depth:-1733.243774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 84.477679 meters # Minimum depth: 1740.420712 meters looking forward 100.000000 meters along route # Maximum depth: 1754.482665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.420712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709094; longitude = -122.115886; captureRadius = 10; duration = 84; initialDepth = 1691.920148; finalDepth = 1690.420712; 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: 58.277908 # Actual altitude: 58.277908 # Commanded vehicle depth:1690.420712 # Seafloor depth:-1741.920148 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 84.477679 meters # Minimum depth: 1741.920148 meters looking forward 100.000000 meters along route # Maximum depth: 1755.581329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.920148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708481; longitude = -122.115419; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1692.305813; finalDepth = 1691.920148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6611810000002 # Actual altitude: 63.6611810000002 # Commanded vehicle depth:1691.920148 # Seafloor depth:-1755.581329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1742.305813 meters looking forward 100.000000 meters along route # Maximum depth: 1755.581329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.305813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708553; longitude = -122.115274; captureRadius = 10; duration = 84; initialDepth = 1691.829633; finalDepth = 1692.305813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6611810000002 # Actual altitude: 63.6611810000002 # Commanded vehicle depth:1692.305813 # Seafloor depth:-1753.320304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1741.829633 meters looking forward 100.000000 meters along route # Maximum depth: 1745.174212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.829633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708913; longitude = -122.114545; captureRadius = 10; duration = 84; initialDepth = 1693.355908; finalDepth = 1691.829633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.0144910000001 # Actual altitude: 61.0144910000001 # Commanded vehicle depth:1691.829633 # Seafloor depth:-1742.002201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 244.06; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1743.355908 meters looking forward 100.000000 meters along route # Maximum depth: 1745.174212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.355908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709274; longitude = -122.113816; captureRadius = 10; duration = 84; initialDepth = 1692.857989; finalDepth = 1693.355908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7522120000001 # Actual altitude: 51.7522120000001 # Commanded vehicle depth:1693.355908 # Seafloor depth:-1745.108120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1742.857989 meters looking forward 100.000000 meters along route # Maximum depth: 1746.791677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.857989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709634; longitude = -122.113088; captureRadius = 10; duration = 84; initialDepth = 1695.387972; finalDepth = 1692.857989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7522120000001 # Actual altitude: 51.7522120000001 # Commanded vehicle depth:1692.857989 # Seafloor depth:-1743.249522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1745.387972 meters looking forward 100.000000 meters along route # Maximum depth: 1755.787094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.387972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709995; longitude = -122.112359; captureRadius = 10; duration = 84; initialDepth = 1703.437881; finalDepth = 1695.387972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5477900000001 # Actual altitude: 52.5477900000001 # Commanded vehicle depth:1695.387972 # Seafloor depth:-1747.935762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1753.437881 meters looking forward 100.000000 meters along route # Maximum depth: 1758.805896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.437881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.111631; captureRadius = 10; duration = 84; initialDepth = 1701.660548; finalDepth = 1703.437881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8920389999998 # Actual altitude: 52.8920389999998 # Commanded vehicle depth:1703.437881 # Seafloor depth:-1756.329920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1751.660548 meters looking forward 100.000000 meters along route # Maximum depth: 1758.805896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.660548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710716; longitude = -122.110902; captureRadius = 10; duration = 84; initialDepth = 1701.548384; finalDepth = 1701.660548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.989998 # Actual altitude: 56.989998 # Commanded vehicle depth:1701.660548 # Seafloor depth:-1758.650546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1751.548384 meters looking forward 100.000000 meters along route # Maximum depth: 1758.788066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.548384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711076; longitude = -122.110174; captureRadius = 10; duration = 84; initialDepth = 1706.155250; finalDepth = 1701.548384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.989998 # Actual altitude: 56.989998 # Commanded vehicle depth:1701.548384 # Seafloor depth:-1751.548384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1756.155250 meters looking forward 100.000000 meters along route # Maximum depth: 1770.032162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.155250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711437; longitude = -122.109445; captureRadius = 10; duration = 84; initialDepth = 1710.091729; finalDepth = 1706.155250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.220615 # Actual altitude: 55.220615 # Commanded vehicle depth:1706.15525 # Seafloor depth:-1761.375865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1760.091729 meters looking forward 100.000000 meters along route # Maximum depth: 1769.474846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.091729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711797; longitude = -122.108717; captureRadius = 10; duration = 84; initialDepth = 1710.091729; finalDepth = 1710.091729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556403 # Actual altitude: 56.556403 # Commanded vehicle depth:1710.091729 # Seafloor depth:-1766.648132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1760.091729 meters looking forward 100.000000 meters along route # Maximum depth: 1762.838393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.091729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712158; longitude = -122.107988; captureRadius = 10; duration = 84; initialDepth = 1711.464842; finalDepth = 1710.091729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556403 # Actual altitude: 56.556403 # Commanded vehicle depth:1710.091729 # Seafloor depth:-1760.847713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1761.464842 meters looking forward 100.000000 meters along route # Maximum depth: 1768.133509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.464842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.107259; captureRadius = 10; duration = 84; initialDepth = 1715.212678; finalDepth = 1711.464842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.920482 # Actual altitude: 51.920482 # Commanded vehicle depth:1711.464842 # Seafloor depth:-1763.385324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1765.212678 meters looking forward 100.000000 meters along route # Maximum depth: 1767.613149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.212678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712878; longitude = -122.106531; captureRadius = 10; duration = 84; initialDepth = 1709.507731; finalDepth = 1715.212678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.920482 # Actual altitude: 51.920482 # Commanded vehicle depth:1715.212678 # Seafloor depth:-1766.028452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1759.507731 meters looking forward 100.000000 meters along route # Maximum depth: 1765.571750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.507731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.105802; captureRadius = 10; duration = 84; initialDepth = 1701.825153; finalDepth = 1709.507731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5127030000001 # Actual altitude: 55.5127030000001 # Commanded vehicle depth:1709.507731 # Seafloor depth:-1765.020434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1751.825153 meters looking forward 100.000000 meters along route # Maximum depth: 1760.674917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.825153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713599; longitude = -122.105074; captureRadius = 10; duration = 84; initialDepth = 1691.729941; finalDepth = 1701.825153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4734539999999 # Actual altitude: 56.4734539999999 # Commanded vehicle depth:1701.825153 # Seafloor depth:-1758.298607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1741.729941 meters looking forward 100.000000 meters along route # Maximum depth: 1752.651317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.729941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.104345; captureRadius = 10; duration = 84; initialDepth = 1673.713260; finalDepth = 1691.729941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7758779999999 # Actual altitude: 59.7758779999999 # Commanded vehicle depth:1691.729941 # Seafloor depth:-1751.505819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 239.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1723.713260 meters looking forward 100.000000 meters along route # Maximum depth: 1743.746747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.713260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714320; longitude = -122.103617; captureRadius = 10; duration = 84; initialDepth = 1658.440518; finalDepth = 1673.713260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3745470000001 # Actual altitude: 66.3745470000001 # Commanded vehicle depth:1673.71326 # Seafloor depth:-1740.087807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 265.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1708.440518 meters looking forward 100.000000 meters along route # Maximum depth: 1727.646514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.440518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714681; longitude = -122.102888; captureRadius = 10; duration = 84; initialDepth = 1658.440518; finalDepth = 1658.440518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3745470000001 # Actual altitude: 66.3745470000001 # Commanded vehicle depth:1658.440518 # Seafloor depth:-1722.459317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 265.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.477679 meters # Minimum depth: 1708.440518 meters looking forward 100.000000 meters along route # Maximum depth: 1718.424686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.440518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715049; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1666.505718; finalDepth = 1658.440518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0187989999999 # Actual altitude: 64.0187989999999 # Commanded vehicle depth:1658.440518 # Seafloor depth:-1708.448801 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 84.477679 meters # Minimum depth: 1716.505718 meters looking forward 100.000000 meters along route # Maximum depth: 1738.429550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.505718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715456; longitude = -122.101321; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1685.058876; finalDepth = 1666.505718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4343760000002 # Actual altitude: 52.4343760000002 # Commanded vehicle depth:1666.505718 # Seafloor depth:-1718.940094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 84.477679 meters # Minimum depth: 1735.058876 meters looking forward 100.000000 meters along route # Maximum depth: 1752.738526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.058876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714920; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1688.429550; finalDepth = 1685.058876; 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: 54.3705 # Actual altitude: 54.3705 # Commanded vehicle depth:1685.058876 # Seafloor depth:-1739.429376 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 84.477679 meters # Minimum depth: 1738.429550 meters looking forward 100.000000 meters along route # Maximum depth: 1755.046657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.429550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714304; longitude = -122.100442; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1693.122776; finalDepth = 1688.429550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.4249119999999 # Actual altitude: 64.4249119999999 # Commanded vehicle depth:1688.42955 # Seafloor depth:-1752.854462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 257.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1752.634040 meters looking forward 100.000000 meters along route # Maximum depth: 1759.455637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.122776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714230; longitude = -122.100591; captureRadius = 10; duration = 84; initialDepth = 1708.607249; finalDepth = 1693.122776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.4249119999999 # Actual altitude: 64.4249119999999 # Commanded vehicle depth:1693.1227764 # Seafloor depth:-1755.228076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 257.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1758.607249 meters looking forward 100.000000 meters along route # Maximum depth: 1760.401331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.607249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713870; longitude = -122.101320; captureRadius = 10; duration = 84; initialDepth = 1709.631601; finalDepth = 1708.607249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1052995999999 # Actual altitude: 62.1052995999999 # Commanded vehicle depth:1708.607249 # Seafloor depth:-1759.936604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1759.631601 meters looking forward 100.000000 meters along route # Maximum depth: 1761.369789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.631601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713509; longitude = -122.102048; captureRadius = 10; duration = 84; initialDepth = 1697.399342; finalDepth = 1709.631601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3293550000001 # Actual altitude: 51.3293550000001 # Commanded vehicle depth:1709.631601 # Seafloor depth:-1760.381297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.32; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1747.399342 meters looking forward 100.000000 meters along route # Maximum depth: 1760.611734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.399342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713149; longitude = -122.102777; captureRadius = 10; duration = 84; initialDepth = 1697.399342; finalDepth = 1697.399342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.371003 # Actual altitude: 61.371003 # Commanded vehicle depth:1697.399342 # Seafloor depth:-1758.770345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1747.399342 meters looking forward 100.000000 meters along route # Maximum depth: 1752.781189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.399342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712788; longitude = -122.103506; captureRadius = 10; duration = 84; initialDepth = 1701.336643; finalDepth = 1697.399342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.371003 # Actual altitude: 61.371003 # Commanded vehicle depth:1697.399342 # Seafloor depth:-1747.442967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1751.336643 meters looking forward 100.000000 meters along route # Maximum depth: 1766.446734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.336643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712428; longitude = -122.104234; captureRadius = 10; duration = 84; initialDepth = 1713.886579; finalDepth = 1701.336643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7716789999999 # Actual altitude: 52.7716789999999 # Commanded vehicle depth:1701.336643 # Seafloor depth:-1754.108322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1763.886579 meters looking forward 100.000000 meters along route # Maximum depth: 1776.920670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.886579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712067; longitude = -122.104963; captureRadius = 10; duration = 84; initialDepth = 1725.081603; finalDepth = 1713.886579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8261640000001 # Actual altitude: 52.8261640000001 # Commanded vehicle depth:1713.886579 # Seafloor depth:-1766.712743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1775.081603 meters looking forward 100.000000 meters along route # Maximum depth: 1788.297671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.081603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711707; longitude = -122.105691; captureRadius = 10; duration = 84; initialDepth = 1736.419300; finalDepth = 1725.081603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424389999998 # Actual altitude: 53.0424389999998 # Commanded vehicle depth:1725.081603 # Seafloor depth:-1778.124042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1786.419300 meters looking forward 100.000000 meters along route # Maximum depth: 1791.484614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.419300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711346; longitude = -122.106420; captureRadius = 10; duration = 84; initialDepth = 1740.469269; finalDepth = 1736.419300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424389999998 # Actual altitude: 53.0424389999998 # Commanded vehicle depth:1736.4193 # Seafloor depth:-1788.462290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1790.469269 meters looking forward 100.000000 meters along route # Maximum depth: 1792.212733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.469269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710986; longitude = -122.107148; captureRadius = 10; duration = 84; initialDepth = 1730.588322; finalDepth = 1740.469269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0429899999999 # Actual altitude: 52.0429899999999 # Commanded vehicle depth:1740.469269 # Seafloor depth:-1790.475568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1780.588322 meters looking forward 100.000000 meters along route # Maximum depth: 1792.115167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.588322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710626; longitude = -122.107877; captureRadius = 10; duration = 84; initialDepth = 1730.016977; finalDepth = 1730.588322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2500889999999 # Actual altitude: 60.2500889999999 # Commanded vehicle depth:1730.588322 # Seafloor depth:-1790.838411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1780.016977 meters looking forward 100.000000 meters along route # Maximum depth: 1786.042881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.016977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710265; longitude = -122.108605; captureRadius = 10; duration = 84; initialDepth = 1734.287420; finalDepth = 1730.016977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2500889999999 # Actual altitude: 60.2500889999999 # Commanded vehicle depth:1730.016977 # Seafloor depth:-1780.143960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1784.287420 meters looking forward 100.000000 meters along route # Maximum depth: 1788.704922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.287420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.109334; captureRadius = 10; duration = 84; initialDepth = 1716.910053; finalDepth = 1734.287420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9560219999998 # Actual altitude: 51.9560219999998 # Commanded vehicle depth:1734.28742 # Seafloor depth:-1786.243442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1766.910053 meters looking forward 100.000000 meters along route # Maximum depth: 1786.806849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.910053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709544; longitude = -122.110063; captureRadius = 10; duration = 84; initialDepth = 1711.957986; finalDepth = 1716.910053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6297219999999 # Actual altitude: 65.6297219999999 # Commanded vehicle depth:1716.910053 # Seafloor depth:-1782.539775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1761.957986 meters looking forward 100.000000 meters along route # Maximum depth: 1770.300634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.957986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.110791; captureRadius = 10; duration = 84; initialDepth = 1711.992406; finalDepth = 1711.957986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6297219999999 # Actual altitude: 65.6297219999999 # Commanded vehicle depth:1711.957986 # Seafloor depth:-1766.504063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1761.992406 meters looking forward 100.000000 meters along route # Maximum depth: 1767.015153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.992406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.111520; captureRadius = 10; duration = 84; initialDepth = 1716.117788; finalDepth = 1711.992406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5460770000002 # Actual altitude: 54.5460770000002 # Commanded vehicle depth:1711.992406 # Seafloor depth:-1762.897665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1766.117788 meters looking forward 100.000000 meters along route # Maximum depth: 1774.426206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.117788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708463; longitude = -122.112248; captureRadius = 10; duration = 84; initialDepth = 1723.035689; finalDepth = 1716.117788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0647140000001 # Actual altitude: 51.0647140000001 # Commanded vehicle depth:1716.117788 # Seafloor depth:-1767.182502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1773.035689 meters looking forward 100.000000 meters along route # Maximum depth: 1781.414268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.035689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708085; longitude = -122.113011; captureRadius = 10; duration = 84; initialDepth = 1731.302904; finalDepth = 1723.035689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9828069999999 # Actual altitude: 51.9828069999999 # Commanded vehicle depth:1723.035689 # Seafloor depth:-1775.018496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.477679 meters # Minimum depth: 1781.302904 meters looking forward 100.000000 meters along route # Maximum depth: 1787.225686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.302904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707697; longitude = -122.113795; captureRadius = 10; duration = 84; initialDepth = 1736.049777; finalDepth = 1731.302904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9828069999999 # Actual altitude: 51.9828069999999 # Commanded vehicle depth:1731.302904 # Seafloor depth:-1781.975177 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 84.477679 meters # Minimum depth: 1786.049777 meters looking forward 100.000000 meters along route # Maximum depth: 1800.396651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.049777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707329; longitude = -122.114540; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1743.731490; finalDepth = 1736.049777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.408383 # Actual altitude: 51.408383 # Commanded vehicle depth:1736.049777 # Seafloor depth:-1787.458160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 84.477679 meters # Minimum depth: 1793.731490 meters looking forward 100.000000 meters along route # Maximum depth: 1804.397808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.731490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706751; longitude = -122.114432; captureRadius = 10; duration = 84; initialDepth = 1742.519348; finalDepth = 1743.731490; 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: 58.9279790000001 # Actual altitude: 58.9279790000001 # Commanded vehicle depth:1743.73149 # Seafloor depth:-1802.659469 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 84.477679 meters # Minimum depth: 1792.519348 meters looking forward 100.000000 meters along route # Maximum depth: 1810.738762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.519348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.114293; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1748.747378; finalDepth = 1742.519348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9279790000001 # Actual altitude: 58.9279790000001 # Commanded vehicle depth:1742.519348 # Seafloor depth:-1792.519348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1798.747378 meters looking forward 100.000000 meters along route # Maximum depth: 1810.740157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.747378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.113683; captureRadius = 10; duration = 84; initialDepth = 1745.385355; finalDepth = 1748.747378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9927789999999 # Actual altitude: 61.9927789999999 # Commanded vehicle depth:1748.747378 # Seafloor depth:-1810.740157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1795.385355 meters looking forward 100.000000 meters along route # Maximum depth: 1801.073514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.385355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.112940; captureRadius = 10; duration = 84; initialDepth = 1746.540412; finalDepth = 1745.385355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9927789999999 # Actual altitude: 61.9927789999999 # Commanded vehicle depth:1745.385355 # Seafloor depth:-1797.494613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1796.540412 meters looking forward 100.000000 meters along route # Maximum depth: 1798.442385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.540412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707021; longitude = -122.112197; captureRadius = 10; duration = 84; initialDepth = 1735.427048; finalDepth = 1746.540412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1092580000002 # Actual altitude: 52.1092580000002 # Commanded vehicle depth:1746.540412 # Seafloor depth:-1796.752019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1785.427048 meters looking forward 100.000000 meters along route # Maximum depth: 1798.442385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.427048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707387; longitude = -122.111443; captureRadius = 10; duration = 84; initialDepth = 1731.770443; finalDepth = 1735.427048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6158849999999 # Actual altitude: 62.6158849999999 # Commanded vehicle depth:1735.427048 # Seafloor depth:-1798.042933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 250.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1781.770443 meters looking forward 100.000000 meters along route # Maximum depth: 1788.123870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.770443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707742; longitude = -122.110712; captureRadius = 10; duration = 84; initialDepth = 1731.770443; finalDepth = 1731.770443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6158849999999 # Actual altitude: 62.6158849999999 # Commanded vehicle depth:1731.770443 # Seafloor depth:-1784.394454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 250.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1781.770443 meters looking forward 100.000000 meters along route # Maximum depth: 1788.739391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.770443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708102; longitude = -122.109969; captureRadius = 10; duration = 84; initialDepth = 1737.225268; finalDepth = 1731.770443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6240110000001 # Actual altitude: 52.6240110000001 # Commanded vehicle depth:1731.770443 # Seafloor depth:-1782.020170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1787.225268 meters looking forward 100.000000 meters along route # Maximum depth: 1802.517630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.225268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708463; longitude = -122.109226; captureRadius = 10; duration = 84; initialDepth = 1750.343269; finalDepth = 1737.225268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7431740000002 # Actual altitude: 52.7431740000002 # Commanded vehicle depth:1737.225268 # Seafloor depth:-1789.968442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1800.343269 meters looking forward 100.000000 meters along route # Maximum depth: 1806.079899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.343269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.108483; captureRadius = 10; duration = 84; initialDepth = 1753.481363; finalDepth = 1750.343269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7802140000001 # Actual altitude: 52.7802140000001 # Commanded vehicle depth:1750.343269 # Seafloor depth:-1803.123483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1803.481363 meters looking forward 100.000000 meters along route # Maximum depth: 1806.040506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.481363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.107740; captureRadius = 10; duration = 84; initialDepth = 1751.443176; finalDepth = 1753.481363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7802140000001 # Actual altitude: 52.7802140000001 # Commanded vehicle depth:1753.481363 # Seafloor depth:-1805.346582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1801.443176 meters looking forward 100.000000 meters along route # Maximum depth: 1806.018531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.443176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709544; longitude = -122.106998; captureRadius = 10; duration = 84; initialDepth = 1745.972049; finalDepth = 1751.443176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7943170000001 # Actual altitude: 53.7943170000001 # Commanded vehicle depth:1751.443176 # Seafloor depth:-1805.237493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1795.972049 meters looking forward 100.000000 meters along route # Maximum depth: 1803.240494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.972049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.106255; captureRadius = 10; duration = 84; initialDepth = 1739.239226; finalDepth = 1745.972049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.056102 # Actual altitude: 55.056102 # Commanded vehicle depth:1745.972049 # Seafloor depth:-1801.028151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1789.239226 meters looking forward 100.000000 meters along route # Maximum depth: 1797.641576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.239226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710268; longitude = -122.105505; captureRadius = 10; duration = 84; initialDepth = 1738.643891; finalDepth = 1739.239226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6511870000002 # Actual altitude: 56.6511870000002 # Commanded vehicle depth:1739.239226 # Seafloor depth:-1795.890413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1788.643891 meters looking forward 100.000000 meters along route # Maximum depth: 1790.179971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.643891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710626; longitude = -122.104769; captureRadius = 10; duration = 84; initialDepth = 1732.658439; finalDepth = 1738.643891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6511870000002 # Actual altitude: 56.6511870000002 # Commanded vehicle depth:1738.643891 # Seafloor depth:-1788.977999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1782.658439 meters looking forward 100.000000 meters along route # Maximum depth: 1790.021335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.658439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710986; longitude = -122.104026; captureRadius = 10; duration = 84; initialDepth = 1730.193194; finalDepth = 1732.658439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7086569999999 # Actual altitude: 55.7086569999999 # Commanded vehicle depth:1732.658439 # Seafloor depth:-1788.367096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1780.193194 meters looking forward 100.000000 meters along route # Maximum depth: 1783.062578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.193194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711356; longitude = -122.103265; captureRadius = 10; duration = 84; initialDepth = 1729.633000; finalDepth = 1730.193194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7086569999999 # Actual altitude: 55.7086569999999 # Commanded vehicle depth:1730.193194 # Seafloor depth:-1782.903444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1779.633000 meters looking forward 100.000000 meters along route # Maximum depth: 1781.106257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.633000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711707; longitude = -122.102541; captureRadius = 10; duration = 84; initialDepth = 1728.606730; finalDepth = 1729.633000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7102500000001 # Actual altitude: 52.7102500000001 # Commanded vehicle depth:1729.633 # Seafloor depth:-1780.216915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1778.606730 meters looking forward 100.000000 meters along route # Maximum depth: 1780.114148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.606730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712067; longitude = -122.101798; captureRadius = 10; duration = 84; initialDepth = 1722.136830; finalDepth = 1728.606730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0204570000001 # Actual altitude: 51.0204570000001 # Commanded vehicle depth:1728.60673 # Seafloor depth:-1779.627187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1772.136830 meters looking forward 100.000000 meters along route # Maximum depth: 1779.377324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.136830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712428; longitude = -122.101055; captureRadius = 10; duration = 84; initialDepth = 1709.794562; finalDepth = 1722.136830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.959951 # Actual altitude: 55.959951 # Commanded vehicle depth:1722.13683 # Seafloor depth:-1778.096781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.477679 meters # Minimum depth: 1759.794562 meters looking forward 100.000000 meters along route # Maximum depth: 1774.147348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.794562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712788; longitude = -122.100312; captureRadius = 10; duration = 84; initialDepth = 1708.818269; finalDepth = 1709.794562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.687283 # Actual altitude: 61.687283 # Commanded vehicle depth:1709.794562 # Seafloor depth:-1771.481845 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 84.477679 meters # Minimum depth: 1758.818269 meters looking forward 100.000000 meters along route # Maximum depth: 1762.478151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.818269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713152; longitude = -122.099563; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1705.342493; finalDepth = 1708.818269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.687283 # Actual altitude: 61.687283 # Commanded vehicle depth:1708.818269 # Seafloor depth:-1758.858734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 84.477679 meters # Minimum depth: 1755.342493 meters looking forward 100.000000 meters along route # Maximum depth: 1759.597023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.342493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712608; longitude = -122.099148; captureRadius = 10; duration = 84; initialDepth = 1705.342493; finalDepth = 1705.342493; 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: 54.0432289999999 # Actual altitude: 54.0432289999999 # Commanded vehicle depth:1705.342493 # Seafloor depth:-1759.385722 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 84.477679 meters # Minimum depth: 1755.342493 meters looking forward 100.000000 meters along route # Maximum depth: 1759.597023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.342493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712000; longitude = -122.098683; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1705.687643; finalDepth = 1705.342493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0432289999999 # Actual altitude: 54.0432289999999 # Commanded vehicle depth:1705.342493 # Seafloor depth:-1755.437042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1755.687643 meters looking forward 100.000000 meters along route # Maximum depth: 1761.239928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.687643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711887; longitude = -122.098923; captureRadius = 10; duration = 84; initialDepth = 1709.544085; finalDepth = 1705.687643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6662249999999 # Actual altitude: 52.6662249999999 # Commanded vehicle depth:1705.687643 # Seafloor depth:-1758.353868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1759.544085 meters looking forward 100.000000 meters along route # Maximum depth: 1769.958025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.544085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711527; longitude = -122.099691; captureRadius = 10; duration = 84; initialDepth = 1718.129127; finalDepth = 1709.544085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6662249999999 # Actual altitude: 52.6662249999999 # Commanded vehicle depth:1709.544085 # Seafloor depth:-1761.359671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1768.129127 meters looking forward 100.000000 meters along route # Maximum depth: 1784.483167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.129127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711163; longitude = -122.100464; captureRadius = 10; duration = 84; initialDepth = 1732.957136; finalDepth = 1718.129127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.941022 # Actual altitude: 51.941022 # Commanded vehicle depth:1718.129127 # Seafloor depth:-1770.070149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1782.957136 meters looking forward 100.000000 meters along route # Maximum depth: 1796.436456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.957136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710795; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1744.059114; finalDepth = 1732.957136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.941022 # Actual altitude: 51.941022 # Commanded vehicle depth:1732.957136 # Seafloor depth:-1784.850891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1794.059114 meters looking forward 100.000000 meters along route # Maximum depth: 1806.062595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.059114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710427; longitude = -122.102032; captureRadius = 10; duration = 84; initialDepth = 1754.558675; finalDepth = 1744.059114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9804370000002 # Actual altitude: 52.9804370000002 # Commanded vehicle depth:1744.059114 # Seafloor depth:-1797.039551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1804.558675 meters looking forward 100.000000 meters along route # Maximum depth: 1809.094812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.558675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710085; longitude = -122.102760; captureRadius = 10; duration = 84; initialDepth = 1757.903905; finalDepth = 1754.558675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9804370000002 # Actual altitude: 52.9804370000002 # Commanded vehicle depth:1754.558675 # Seafloor depth:-1806.702893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1807.903905 meters looking forward 100.000000 meters along route # Maximum depth: 1811.039423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.903905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709724; longitude = -122.103528; captureRadius = 10; duration = 84; initialDepth = 1759.589281; finalDepth = 1757.903905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1442179999999 # Actual altitude: 52.1442179999999 # Commanded vehicle depth:1757.903905 # Seafloor depth:-1809.494678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1809.589281 meters looking forward 100.000000 meters along route # Maximum depth: 1817.952755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.589281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709364; longitude = -122.104295; captureRadius = 10; duration = 84; initialDepth = 1767.245666; finalDepth = 1759.589281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5907730000001 # Actual altitude: 51.5907730000001 # Commanded vehicle depth:1759.589281 # Seafloor depth:-1810.026729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1817.245666 meters looking forward 100.000000 meters along route # Maximum depth: 1820.193990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.245666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709003; longitude = -122.105063; captureRadius = 10; duration = 84; initialDepth = 1769.293896; finalDepth = 1767.245666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7140850000001 # Actual altitude: 50.7140850000001 # Commanded vehicle depth:1767.245666 # Seafloor depth:-1817.959751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1819.293896 meters looking forward 100.000000 meters along route # Maximum depth: 1822.191486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.293896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708638; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1768.950915; finalDepth = 1769.293896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9854400000002 # Actual altitude: 50.9854400000002 # Commanded vehicle depth:1769.293896 # Seafloor depth:-1820.279336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1818.950915 meters looking forward 100.000000 meters along route # Maximum depth: 1822.191486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.950915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708269; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1759.580184; finalDepth = 1768.950915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9437 # Actual altitude: 52.9437 # Commanded vehicle depth:1768.950915 # Seafloor depth:-1821.894615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1809.580184 meters looking forward 100.000000 meters along route # Maximum depth: 1819.156244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.580184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707922; longitude = -122.107365; captureRadius = 10; duration = 84; initialDepth = 1748.569838; finalDepth = 1759.580184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0400910000001 # Actual altitude: 59.0400910000001 # Commanded vehicle depth:1759.580184 # Seafloor depth:-1818.620275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 236.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1798.569838 meters looking forward 100.000000 meters along route # Maximum depth: 1811.819080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.569838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707562; longitude = -122.108132; captureRadius = 10; duration = 84; initialDepth = 1745.878530; finalDepth = 1748.569838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.202166 # Actual altitude: 60.202166 # Commanded vehicle depth:1748.569838 # Seafloor depth:-1808.772004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1795.878530 meters looking forward 100.000000 meters along route # Maximum depth: 1800.823942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.878530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707201; longitude = -122.108900; captureRadius = 10; duration = 84; initialDepth = 1747.977498; finalDepth = 1745.878530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.202166 # Actual altitude: 60.202166 # Commanded vehicle depth:1745.87853 # Seafloor depth:-1798.182585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1797.977498 meters looking forward 100.000000 meters along route # Maximum depth: 1809.392955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.977498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706841; longitude = -122.109667; captureRadius = 10; duration = 84; initialDepth = 1758.119216; finalDepth = 1747.977498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.12979 # Actual altitude: 53.12979 # Commanded vehicle depth:1747.977498 # Seafloor depth:-1801.107288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1808.119216 meters looking forward 100.000000 meters along route # Maximum depth: 1815.439925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.119216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706480; longitude = -122.110435; captureRadius = 10; duration = 84; initialDepth = 1764.784227; finalDepth = 1758.119216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.12979 # Actual altitude: 53.12979 # Commanded vehicle depth:1758.119216 # Seafloor depth:-1809.393183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1814.784227 meters looking forward 100.000000 meters along route # Maximum depth: 1816.483494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.784227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706112; longitude = -122.111219; captureRadius = 10; duration = 84; initialDepth = 1765.035756; finalDepth = 1764.784227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2739669999999 # Actual altitude: 51.2739669999999 # Commanded vehicle depth:1764.784227 # Seafloor depth:-1815.491054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1815.035756 meters looking forward 100.000000 meters along route # Maximum depth: 1821.646253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.035756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705744; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1747.901420; finalDepth = 1765.035756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.833635 # Actual altitude: 51.833635 # Commanded vehicle depth:1765.035756 # Seafloor depth:-1816.869391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1797.901420 meters looking forward 100.000000 meters along route # Maximum depth: 1821.575285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.901420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705399; longitude = -122.112737; captureRadius = 10; duration = 84; initialDepth = 1733.066127; finalDepth = 1747.901420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.51694 # Actual altitude: 71.51694 # Commanded vehicle depth:1747.90142 # Seafloor depth:-1819.418360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.61; MB_Bottom_Detect_Filter_Max_Range = 286.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.477679 meters # Minimum depth: 1783.066127 meters looking forward 100.000000 meters along route # Maximum depth: 1802.080178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.066127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.113504; captureRadius = 10; duration = 84; initialDepth = 1733.066127; finalDepth = 1733.066127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.51694 # Actual altitude: 71.51694 # Commanded vehicle depth:1733.066127 # Seafloor depth:-1796.377557 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.61; MB_Bottom_Detect_Filter_Max_Range = 286.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 84.477679 meters # Minimum depth: 1783.066127 meters looking forward 100.000000 meters along route # Maximum depth: 1799.687194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.066127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.114293; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1747.306152; finalDepth = 1733.066127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.31143 # Actual altitude: 63.31143 # Commanded vehicle depth:1733.066127 # Seafloor depth:-1783.359192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 253.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 84.477679 meters # Minimum depth: 1797.306152 meters looking forward 100.000000 meters along route # Maximum depth: 1823.197488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.306152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704047; longitude = -122.114086; captureRadius = 10; duration = 84; initialDepth = 1766.003740; finalDepth = 1747.306152; 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: 57.309352 # Actual altitude: 57.309352 # Commanded vehicle depth:1747.306152 # Seafloor depth:-1804.615504 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 84.477679 meters # Minimum depth: 1816.003740 meters looking forward 100.000000 meters along route # Maximum depth: 1824.755420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.003740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703333; longitude = -122.113848; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1763.834177; finalDepth = 1766.003740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5278149999999 # Actual altitude: 58.5278149999999 # Commanded vehicle depth:1766.00374 # Seafloor depth:-1824.531555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1813.834177 meters looking forward 100.000000 meters along route # Maximum depth: 1820.533202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.834177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703597; longitude = -122.113285; captureRadius = 10; duration = 84; initialDepth = 1767.476396; finalDepth = 1763.834177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5278149999999 # Actual altitude: 58.5278149999999 # Commanded vehicle depth:1763.834177 # Seafloor depth:-1815.301625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1817.476396 meters looking forward 100.000000 meters along route # Maximum depth: 1833.640022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.476396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703957; longitude = -122.112516; captureRadius = 10; duration = 84; initialDepth = 1782.056297; finalDepth = 1767.476396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128183 # Actual altitude: 54.128183 # Commanded vehicle depth:1767.476396 # Seafloor depth:-1821.604579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1832.056297 meters looking forward 100.000000 meters along route # Maximum depth: 1836.638008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.056297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704318; longitude = -122.111746; captureRadius = 10; duration = 84; initialDepth = 1784.788929; finalDepth = 1782.056297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128183 # Actual altitude: 54.128183 # Commanded vehicle depth:1782.056297 # Seafloor depth:-1833.918106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1834.788929 meters looking forward 100.000000 meters along route # Maximum depth: 1836.617369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.788929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704678; longitude = -122.110977; captureRadius = 10; duration = 84; initialDepth = 1771.122103; finalDepth = 1784.788929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.861809 # Actual altitude: 51.861809 # Commanded vehicle depth:1784.788929 # Seafloor depth:-1836.128933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1821.122103 meters looking forward 100.000000 meters along route # Maximum depth: 1835.227007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.122103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.110207; captureRadius = 10; duration = 84; initialDepth = 1756.944829; finalDepth = 1771.122103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0112690000001 # Actual altitude: 64.0112690000001 # Commanded vehicle depth:1771.122103 # Seafloor depth:-1835.133372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1806.944829 meters looking forward 100.000000 meters along route # Maximum depth: 1823.265484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.944829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705404; longitude = -122.109426; captureRadius = 10; duration = 84; initialDepth = 1755.462881; finalDepth = 1756.944829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0112690000001 # Actual altitude: 64.0112690000001 # Commanded vehicle depth:1756.944829 # Seafloor depth:-1820.891007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1805.462881 meters looking forward 100.000000 meters along route # Maximum depth: 1808.650454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.462881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705771; longitude = -122.108642; captureRadius = 10; duration = 84; initialDepth = 1757.198906; finalDepth = 1755.462881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.9461779999999 # Actual altitude: 63.9461779999999 # Commanded vehicle depth:1755.462881 # Seafloor depth:-1806.623930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 255.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1807.198906 meters looking forward 100.000000 meters along route # Maximum depth: 1816.073054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.198906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706139; longitude = -122.107858; captureRadius = 10; duration = 84; initialDepth = 1763.495872; finalDepth = 1757.198906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6535409999999 # Actual altitude: 51.6535409999999 # Commanded vehicle depth:1757.198906 # Seafloor depth:-1808.852447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1813.495872 meters looking forward 100.000000 meters along route # Maximum depth: 1827.801094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.495872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706480; longitude = -122.107129; captureRadius = 10; duration = 84; initialDepth = 1776.525862; finalDepth = 1763.495872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6656620000001 # Actual altitude: 53.6656620000001 # Commanded vehicle depth:1763.495872 # Seafloor depth:-1817.161534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1826.525862 meters looking forward 100.000000 meters along route # Maximum depth: 1833.761702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.525862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706841; longitude = -122.106359; captureRadius = 10; duration = 84; initialDepth = 1781.662407; finalDepth = 1776.525862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6656620000001 # Actual altitude: 53.6656620000001 # Commanded vehicle depth:1776.525862 # Seafloor depth:-1828.075763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1831.662407 meters looking forward 100.000000 meters along route # Maximum depth: 1833.761702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.662407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707201; longitude = -122.105590; captureRadius = 10; duration = 84; initialDepth = 1781.117726; finalDepth = 1781.662407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0790830000001 # Actual altitude: 52.0790830000001 # Commanded vehicle depth:1781.662407 # Seafloor depth:-1833.741490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1831.117726 meters looking forward 100.000000 meters along route # Maximum depth: 1832.011561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.117726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707562; longitude = -122.104820; captureRadius = 10; duration = 84; initialDepth = 1767.257654; finalDepth = 1781.117726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0790830000001 # Actual altitude: 52.0790830000001 # Commanded vehicle depth:1781.117726 # Seafloor depth:-1831.646405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1817.257654 meters looking forward 100.000000 meters along route # Maximum depth: 1831.503717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.257654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707923; longitude = -122.104049; captureRadius = 10; duration = 84; initialDepth = 1759.493413; finalDepth = 1767.257654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0268599999999 # Actual altitude: 64.0268599999999 # Commanded vehicle depth:1767.257654 # Seafloor depth:-1831.284514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1809.493413 meters looking forward 100.000000 meters along route # Maximum depth: 1819.150420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.493413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708290; longitude = -122.103265; captureRadius = 10; duration = 84; initialDepth = 1745.522545; finalDepth = 1759.493413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0268599999999 # Actual altitude: 64.0268599999999 # Commanded vehicle depth:1759.493413 # Seafloor depth:-1816.992266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1795.522545 meters looking forward 100.000000 meters along route # Maximum depth: 1811.055653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.522545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708658; longitude = -122.102481; captureRadius = 10; duration = 84; initialDepth = 1731.740658; finalDepth = 1745.522545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.324339 # Actual altitude: 63.324339 # Commanded vehicle depth:1745.522545 # Seafloor depth:-1808.846884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1781.740658 meters looking forward 100.000000 meters along route # Maximum depth: 1796.455798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.740658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709025; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1718.536502; finalDepth = 1731.740658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.324339 # Actual altitude: 63.324339 # Commanded vehicle depth:1731.740658 # Seafloor depth:-1794.843263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1768.536502 meters looking forward 100.000000 meters along route # Maximum depth: 1782.639754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.536502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709392; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1717.969132; finalDepth = 1718.536502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.102605 # Actual altitude: 63.102605 # Commanded vehicle depth:1718.536502 # Seafloor depth:-1780.617236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1767.969132 meters looking forward 100.000000 meters along route # Maximum depth: 1768.773039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.969132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709759; longitude = -122.100128; captureRadius = 10; duration = 84; initialDepth = 1716.054989; finalDepth = 1717.969132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.0807340000001 # Actual altitude: 62.0807340000001 # Commanded vehicle depth:1717.969132 # Seafloor depth:-1768.481153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1766.054989 meters looking forward 100.000000 meters along route # Maximum depth: 1769.938602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.054989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710127; longitude = -122.099344; captureRadius = 10; duration = 84; initialDepth = 1707.406359; finalDepth = 1716.054989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3626730000001 # Actual altitude: 52.3626730000001 # Commanded vehicle depth:1716.054989 # Seafloor depth:-1768.417662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.477679 meters # Minimum depth: 1757.406359 meters looking forward 100.000000 meters along route # Maximum depth: 1766.189925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.406359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710494; longitude = -122.098560; captureRadius = 10; duration = 84; initialDepth = 1706.318115; finalDepth = 1707.406359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8115029999999 # Actual altitude: 56.8115029999999 # Commanded vehicle depth:1707.406359 # Seafloor depth:-1764.217862 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 84.477679 meters # Minimum depth: 1756.318115 meters looking forward 100.000000 meters along route # Maximum depth: 1767.197154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.318115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710848; longitude = -122.097804; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1715.543908; finalDepth = 1706.318115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8115029999999 # Actual altitude: 56.8115029999999 # Commanded vehicle depth:1706.318115 # Seafloor depth:-1756.318115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 84.477679 meters # Minimum depth: 1765.543908 meters looking forward 100.000000 meters along route # Maximum depth: 1775.871993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.543908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.097428; captureRadius = 10; duration = 84; initialDepth = 1719.907455; finalDepth = 1715.543908; 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: 51.9407549999999 # Actual altitude: 51.9407549999999 # Commanded vehicle depth:1715.543908 # Seafloor depth:-1767.484663 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 84.477679 meters # Minimum depth: 1769.907455 meters looking forward 100.000000 meters along route # Maximum depth: 1780.016447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.907455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709696; longitude = -122.096925; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1728.077410; finalDepth = 1719.907455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7501070000001 # Actual altitude: 56.7501070000001 # Commanded vehicle depth:1719.907455 # Seafloor depth:-1776.657562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 227.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1778.077410 meters looking forward 100.000000 meters along route # Maximum depth: 1785.916386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.077410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709544; longitude = -122.097250; captureRadius = 10; duration = 84; initialDepth = 1735.263643; finalDepth = 1728.077410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7501070000001 # Actual altitude: 56.7501070000001 # Commanded vehicle depth:1728.07741 # Seafloor depth:-1780.404038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 227.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1785.263643 meters looking forward 100.000000 meters along route # Maximum depth: 1791.355163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.263643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.098021; captureRadius = 10; duration = 84; initialDepth = 1740.446295; finalDepth = 1735.263643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3266279999998 # Actual altitude: 52.3266279999998 # Commanded vehicle depth:1735.263643 # Seafloor depth:-1786.023574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1790.446295 meters looking forward 100.000000 meters along route # Maximum depth: 1792.601433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.446295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.098793; captureRadius = 10; duration = 84; initialDepth = 1742.233133; finalDepth = 1740.446295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7599310000001 # Actual altitude: 50.7599310000001 # Commanded vehicle depth:1740.446295 # Seafloor depth:-1790.976892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1792.233133 meters looking forward 100.000000 meters along route # Maximum depth: 1798.146960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.233133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708461; longitude = -122.099568; captureRadius = 10; duration = 84; initialDepth = 1746.087841; finalDepth = 1742.233133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5305969999999 # Actual altitude: 50.5305969999999 # Commanded vehicle depth:1742.233133 # Seafloor depth:-1792.492017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1796.087841 meters looking forward 100.000000 meters along route # Maximum depth: 1826.116564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.087841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708095; longitude = -122.100352; captureRadius = 10; duration = 84; initialDepth = 1770.383770; finalDepth = 1746.087841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5272560000001 # Actual altitude: 52.5272560000001 # Commanded vehicle depth:1746.087841 # Seafloor depth:-1798.615097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1823.808938 meters looking forward 100.000000 meters along route # Maximum depth: 1835.206975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.383770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707728; longitude = -122.101136; captureRadius = 10; duration = 84; initialDepth = 1784.534193; finalDepth = 1770.383770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3549276999986 # Actual altitude: 56.3549276999986 # Commanded vehicle depth:1770.3837703 # Seafloor depth:-1826.738698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1834.534193 meters looking forward 100.000000 meters along route # Maximum depth: 1836.302416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.534193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707362; longitude = -122.101920; captureRadius = 10; duration = 84; initialDepth = 1786.006299; finalDepth = 1784.534193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3549276999986 # Actual altitude: 56.3549276999986 # Commanded vehicle depth:1784.534193 # Seafloor depth:-1835.211636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1836.006299 meters looking forward 100.000000 meters along route # Maximum depth: 1837.299372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.006299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707021; longitude = -122.102650; captureRadius = 10; duration = 84; initialDepth = 1786.780788; finalDepth = 1786.006299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.677443 # Actual altitude: 50.677443 # Commanded vehicle depth:1786.006299 # Seafloor depth:-1836.371837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1836.780788 meters looking forward 100.000000 meters along route # Maximum depth: 1837.929336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.780788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.103422; captureRadius = 10; duration = 84; initialDepth = 1787.796194; finalDepth = 1786.780788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.630776 # Actual altitude: 50.630776 # Commanded vehicle depth:1786.780788 # Seafloor depth:-1837.411564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1837.796194 meters looking forward 100.000000 meters along route # Maximum depth: 1839.518436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.796194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.104193; captureRadius = 10; duration = 84; initialDepth = 1786.871806; finalDepth = 1787.796194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.630776 # Actual altitude: 50.630776 # Commanded vehicle depth:1787.796194 # Seafloor depth:-1837.944174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1836.871806 meters looking forward 100.000000 meters along route # Maximum depth: 1839.518436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.871806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705940; longitude = -122.104965; captureRadius = 10; duration = 84; initialDepth = 1777.206889; finalDepth = 1786.871806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.64501 # Actual altitude: 52.64501 # Commanded vehicle depth:1786.871806 # Seafloor depth:-1839.516816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1827.206889 meters looking forward 100.000000 meters along route # Maximum depth: 1838.191578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.206889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705579; longitude = -122.105736; captureRadius = 10; duration = 84; initialDepth = 1776.656363; finalDepth = 1777.206889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5691589999999 # Actual altitude: 59.5691589999999 # Commanded vehicle depth:1777.206889 # Seafloor depth:-1836.776048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1826.656363 meters looking forward 100.000000 meters along route # Maximum depth: 1829.263592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.656363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705216; longitude = -122.106514; captureRadius = 10; duration = 84; initialDepth = 1778.682374; finalDepth = 1776.656363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5691589999999 # Actual altitude: 59.5691589999999 # Commanded vehicle depth:1776.656363 # Seafloor depth:-1827.169986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1828.682374 meters looking forward 100.000000 meters along route # Maximum depth: 1840.131679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.682374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704850; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1788.875554; finalDepth = 1778.682374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7340570000001 # Actual altitude: 50.7340570000001 # Commanded vehicle depth:1778.682374 # Seafloor depth:-1829.416431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1838.875554 meters looking forward 100.000000 meters along route # Maximum depth: 1845.705853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.875554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704483; longitude = -122.108082; captureRadius = 10; duration = 84; initialDepth = 1795.332051; finalDepth = 1788.875554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.612447 # Actual altitude: 51.612447 # Commanded vehicle depth:1788.875554 # Seafloor depth:-1840.488001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1845.332051 meters looking forward 100.000000 meters along route # Maximum depth: 1847.984728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.332051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704117; longitude = -122.108866; captureRadius = 10; duration = 84; initialDepth = 1797.280533; finalDepth = 1795.332051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.612447 # Actual altitude: 51.612447 # Commanded vehicle depth:1795.332051 # Seafloor depth:-1845.561012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1847.280533 meters looking forward 100.000000 meters along route # Maximum depth: 1850.088011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.280533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.109594; captureRadius = 10; duration = 84; initialDepth = 1799.010456; finalDepth = 1797.280533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9450909999998 # Actual altitude: 50.9450909999998 # Commanded vehicle depth:1797.280533 # Seafloor depth:-1848.225624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1849.010456 meters looking forward 100.000000 meters along route # Maximum depth: 1851.130113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.010456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.110365; captureRadius = 10; duration = 84; initialDepth = 1791.118707; finalDepth = 1799.010456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1827940000001 # Actual altitude: 51.1827940000001 # Commanded vehicle depth:1799.010456 # Seafloor depth:-1850.193250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1841.118707 meters looking forward 100.000000 meters along route # Maximum depth: 1850.282473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.118707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.111137; captureRadius = 10; duration = 84; initialDepth = 1787.251408; finalDepth = 1791.118707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.642805 # Actual altitude: 57.642805 # Commanded vehicle depth:1791.118707 # Seafloor depth:-1848.761512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1837.251408 meters looking forward 100.000000 meters along route # Maximum depth: 1843.789105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.251408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.111908; captureRadius = 10; duration = 84; initialDepth = 1788.358630; finalDepth = 1787.251408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.642805 # Actual altitude: 57.642805 # Commanded vehicle depth:1787.251408 # Seafloor depth:-1840.818347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.477679 meters # Minimum depth: 1838.358630 meters looking forward 100.000000 meters along route # Maximum depth: 1845.640595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.358630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702337; longitude = -122.112675; captureRadius = 10; duration = 84; initialDepth = 1789.719001; finalDepth = 1788.358630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5669389999998 # Actual altitude: 53.5669389999998 # Commanded vehicle depth:1788.35863 # Seafloor depth:-1839.719001 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 84.477679 meters # Minimum depth: 1839.719001 meters looking forward 100.000000 meters along route # Maximum depth: 1845.912704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.719001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701997; longitude = -122.113403; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1795.912704; finalDepth = 1789.719001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4841550000001 # Actual altitude: 55.4841550000001 # Commanded vehicle depth:1789.719001 # Seafloor depth:-1845.203156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 84.477679 meters # Minimum depth: 1845.912704 meters looking forward 100.000000 meters along route # Maximum depth: 1853.124127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.912704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.113384; captureRadius = 10; duration = 84; initialDepth = 1802.170180; finalDepth = 1795.912704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4841550000001 # Actual altitude: 55.4841550000001 # Commanded vehicle depth:1795.912704 # Seafloor depth:-1846.704968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 84.477679 meters # Minimum depth: 1852.170180 meters looking forward 100.000000 meters along route # Maximum depth: 1859.946119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.170180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.113319; captureRadius = 10; duration = 84; initialDepth = 1806.149422; finalDepth = 1802.170180; 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: 51.9204069999998 # Actual altitude: 51.9204069999998 # Commanded vehicle depth:1802.17018 # Seafloor depth:-1854.090587 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 84.477679 meters # Minimum depth: 1856.149422 meters looking forward 100.000000 meters along route # Maximum depth: 1861.095821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.149422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.113254; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1800.998182; finalDepth = 1806.149422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2436749999999 # Actual altitude: 54.2436749999999 # Commanded vehicle depth:1806.149422 # Seafloor depth:-1860.393097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 216.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1850.998182 meters looking forward 100.000000 meters along route # Maximum depth: 1857.269093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.998182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.112712; captureRadius = 10; duration = 84; initialDepth = 1799.713961; finalDepth = 1800.998182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576849 # Actual altitude: 54.576849 # Commanded vehicle depth:1800.998182 # Seafloor depth:-1855.575031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1849.713961 meters looking forward 100.000000 meters along route # Maximum depth: 1856.969147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.713961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.111953; captureRadius = 10; duration = 84; initialDepth = 1804.270964; finalDepth = 1799.713961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576849 # Actual altitude: 54.576849 # Commanded vehicle depth:1799.713961 # Seafloor depth:-1850.638575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1854.270964 meters looking forward 100.000000 meters along route # Maximum depth: 1865.410545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.270964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.111195; captureRadius = 10; duration = 84; initialDepth = 1813.856465; finalDepth = 1804.270964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0161889999999 # Actual altitude: 53.0161889999999 # Commanded vehicle depth:1804.270964 # Seafloor depth:-1857.287153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1863.856465 meters looking forward 100.000000 meters along route # Maximum depth: 1865.410860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.856465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701705; longitude = -122.110435; captureRadius = 10; duration = 84; initialDepth = 1812.118485; finalDepth = 1813.856465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0161889999999 # Actual altitude: 53.0161889999999 # Commanded vehicle depth:1813.856465 # Seafloor depth:-1865.410860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1862.118485 meters looking forward 100.000000 meters along route # Maximum depth: 1864.882291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.118485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702078; longitude = -122.109650; captureRadius = 10; duration = 84; initialDepth = 1812.118485; finalDepth = 1812.118485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7638059999999 # Actual altitude: 52.7638059999999 # Commanded vehicle depth:1812.118485 # Seafloor depth:-1864.882291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1862.118485 meters looking forward 100.000000 meters along route # Maximum depth: 1862.650999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.118485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.108920; captureRadius = 10; duration = 84; initialDepth = 1805.585366; finalDepth = 1812.118485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7638059999999 # Actual altitude: 52.7638059999999 # Commanded vehicle depth:1812.118485 # Seafloor depth:-1862.119974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1855.585366 meters looking forward 100.000000 meters along route # Maximum depth: 1862.562626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.585366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702786; longitude = -122.108161; captureRadius = 10; duration = 84; initialDepth = 1804.892826; finalDepth = 1805.585366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.457621 # Actual altitude: 56.457621 # Commanded vehicle depth:1805.585366 # Seafloor depth:-1862.042987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1854.892826 meters looking forward 100.000000 meters along route # Maximum depth: 1856.432707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.892826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.107403; captureRadius = 10; duration = 84; initialDepth = 1803.627125; finalDepth = 1804.892826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.457621 # Actual altitude: 56.457621 # Commanded vehicle depth:1804.892826 # Seafloor depth:-1855.545261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1853.627125 meters looking forward 100.000000 meters along route # Maximum depth: 1855.312684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.627125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703515; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1803.830941; finalDepth = 1803.627125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4134920000001 # Actual altitude: 51.4134920000001 # Commanded vehicle depth:1803.627125 # Seafloor depth:-1855.040617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1853.830941 meters looking forward 100.000000 meters along route # Maximum depth: 1857.788979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.830941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.105886; captureRadius = 10; duration = 84; initialDepth = 1802.439330; finalDepth = 1803.830941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4134920000001 # Actual altitude: 51.4134920000001 # Commanded vehicle depth:1803.830941 # Seafloor depth:-1854.895921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1852.439330 meters looking forward 100.000000 meters along route # Maximum depth: 1857.788979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.439330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.105128; captureRadius = 10; duration = 84; initialDepth = 1799.212349; finalDepth = 1802.439330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8434300000001 # Actual altitude: 54.8434300000001 # Commanded vehicle depth:1802.43933 # Seafloor depth:-1857.282760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1849.212349 meters looking forward 100.000000 meters along route # Maximum depth: 1853.908341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.212349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704588; longitude = -122.104369; captureRadius = 10; duration = 84; initialDepth = 1798.874654; finalDepth = 1799.212349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8434300000001 # Actual altitude: 54.8434300000001 # Commanded vehicle depth:1799.212349 # Seafloor depth:-1852.327345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1848.874654 meters looking forward 100.000000 meters along route # Maximum depth: 1850.430721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.874654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704953; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1795.452712; finalDepth = 1798.874654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.114996 # Actual altitude: 53.114996 # Commanded vehicle depth:1798.874654 # Seafloor depth:-1849.175692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1845.452712 meters looking forward 100.000000 meters along route # Maximum depth: 1850.518173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.452712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705309; longitude = -122.102853; captureRadius = 10; duration = 84; initialDepth = 1793.372393; finalDepth = 1795.452712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.064746 # Actual altitude: 55.064746 # Commanded vehicle depth:1795.452712 # Seafloor depth:-1850.517458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1843.372393 meters looking forward 100.000000 meters along route # Maximum depth: 1846.249134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.372393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.102094; captureRadius = 10; duration = 84; initialDepth = 1791.354039; finalDepth = 1793.372393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.064746 # Actual altitude: 55.064746 # Commanded vehicle depth:1793.372393 # Seafloor depth:-1845.213767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1841.354039 meters looking forward 100.000000 meters along route # Maximum depth: 1843.780125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.354039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.101336; captureRadius = 10; duration = 84; initialDepth = 1788.036802; finalDepth = 1791.354039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9498719999999 # Actual altitude: 51.9498719999999 # Commanded vehicle depth:1791.354039 # Seafloor depth:-1843.303911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1838.036802 meters looking forward 100.000000 meters along route # Maximum depth: 1841.513347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.036802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706391; longitude = -122.100576; captureRadius = 10; duration = 84; initialDepth = 1784.178048; finalDepth = 1788.036802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.314969 # Actual altitude: 53.314969 # Commanded vehicle depth:1788.036802 # Seafloor depth:-1841.351771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1834.178048 meters looking forward 100.000000 meters along route # Maximum depth: 1839.420897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.178048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706764; longitude = -122.099792; captureRadius = 10; duration = 84; initialDepth = 1779.502389; finalDepth = 1784.178048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6564100000001 # Actual altitude: 53.6564100000001 # Commanded vehicle depth:1784.178048 # Seafloor depth:-1837.834458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1829.502389 meters looking forward 100.000000 meters along route # Maximum depth: 1834.804459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.502389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707111; longitude = -122.099061; captureRadius = 10; duration = 84; initialDepth = 1764.806623; finalDepth = 1779.502389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.463788 # Actual altitude: 54.463788 # Commanded vehicle depth:1779.502389 # Seafloor depth:-1833.966177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1814.806623 meters looking forward 100.000000 meters along route # Maximum depth: 1831.633044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.806623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707472; longitude = -122.098302; captureRadius = 10; duration = 84; initialDepth = 1755.029374; finalDepth = 1764.806623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1177500000001 # Actual altitude: 64.1177500000001 # Commanded vehicle depth:1764.806623 # Seafloor depth:-1828.924373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 256.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1805.029374 meters looking forward 100.000000 meters along route # Maximum depth: 1818.063852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.029374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707832; longitude = -122.097544; captureRadius = 10; duration = 84; initialDepth = 1751.256325; finalDepth = 1755.029374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1177500000001 # Actual altitude: 64.1177500000001 # Commanded vehicle depth:1755.029374 # Seafloor depth:-1814.651940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 256.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.477679 meters # Minimum depth: 1801.256325 meters looking forward 100.000000 meters along route # Maximum depth: 1805.369969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.256325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708192; longitude = -122.096786; captureRadius = 10; duration = 84; initialDepth = 1751.256325; finalDepth = 1751.256325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.622566 # Actual altitude: 59.622566 # Commanded vehicle depth:1751.256325 # Seafloor depth:-1804.996020 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 84.477679 meters # Minimum depth: 1801.256325 meters looking forward 100.000000 meters along route # Maximum depth: 1805.914034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.256325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708544; longitude = -122.096046; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1755.393009; finalDepth = 1751.256325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.739695 # Actual altitude: 53.739695 # Commanded vehicle depth:1751.256325 # Seafloor depth:-1801.778595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 84.477679 meters # Minimum depth: 1805.393009 meters looking forward 100.000000 meters along route # Maximum depth: 1808.023090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.393009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708373; longitude = -122.095379; captureRadius = 10; duration = 84; initialDepth = 1756.753167; finalDepth = 1755.393009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6820190000001 # Actual altitude: 50.6820190000001 # Commanded vehicle depth:1755.393009 # Seafloor depth:-1806.075028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 84.477679 meters # Minimum depth: 1806.753167 meters looking forward 100.000000 meters along route # Maximum depth: 1809.370997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.753167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708154; longitude = -122.094526; captureRadius = 10; duration = 84; initialDepth = 1755.893066; finalDepth = 1756.753167; 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: 51.74542 # Actual altitude: 51.74542 # Commanded vehicle depth:1756.753167 # Seafloor depth:-1808.498587 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 84.477679 meters # Minimum depth: 1805.893066 meters looking forward 100.000000 meters along route # Maximum depth: 1809.370997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.893066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707933; longitude = -122.093666; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1755.893066; finalDepth = 1755.893066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.74542 # Actual altitude: 51.74542 # Commanded vehicle depth:1755.893066 # Seafloor depth:-1805.893066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1805.893066 meters looking forward 100.000000 meters along route # Maximum depth: 1818.158856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.893066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707898; longitude = -122.093742; captureRadius = 10; duration = 84; initialDepth = 1767.926588; finalDepth = 1755.893066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2555239999999 # Actual altitude: 52.2555239999999 # Commanded vehicle depth:1755.893066 # Seafloor depth:-1808.148590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1817.926588 meters looking forward 100.000000 meters along route # Maximum depth: 1824.198305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.926588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707538; longitude = -122.094526; captureRadius = 10; duration = 84; initialDepth = 1773.744296; finalDepth = 1767.926588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2555239999999 # Actual altitude: 52.2555239999999 # Commanded vehicle depth:1767.926588 # Seafloor depth:-1818.362987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1823.744296 meters looking forward 100.000000 meters along route # Maximum depth: 1831.924776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.744296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707179; longitude = -122.095311; captureRadius = 10; duration = 84; initialDepth = 1781.628089; finalDepth = 1773.744296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8371079999999 # Actual altitude: 50.8371079999999 # Commanded vehicle depth:1773.744296 # Seafloor depth:-1824.581404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1831.628089 meters looking forward 100.000000 meters along route # Maximum depth: 1837.138507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.628089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706819; longitude = -122.096095; captureRadius = 10; duration = 84; initialDepth = 1786.861179; finalDepth = 1781.628089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8371079999999 # Actual altitude: 50.8371079999999 # Commanded vehicle depth:1781.628089 # Seafloor depth:-1832.133456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1836.861179 meters looking forward 100.000000 meters along route # Maximum depth: 1838.449232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.861179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706459; longitude = -122.096879; captureRadius = 10; duration = 84; initialDepth = 1788.410765; finalDepth = 1786.861179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.505367 # Actual altitude: 50.505367 # Commanded vehicle depth:1786.861179 # Seafloor depth:-1837.016277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1838.410765 meters looking forward 100.000000 meters along route # Maximum depth: 1845.661429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.410765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706100; longitude = -122.097663; captureRadius = 10; duration = 84; initialDepth = 1794.482194; finalDepth = 1788.410765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.155098 # Actual altitude: 50.155098 # Commanded vehicle depth:1788.410765 # Seafloor depth:-1838.412764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1844.482194 meters looking forward 100.000000 meters along route # Maximum depth: 1845.814560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.482194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705740; longitude = -122.098447; captureRadius = 10; duration = 84; initialDepth = 1794.628779; finalDepth = 1794.482194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3323660000001 # Actual altitude: 51.3323660000001 # Commanded vehicle depth:1794.482194 # Seafloor depth:-1845.814560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1844.628779 meters looking forward 100.000000 meters along route # Maximum depth: 1848.271869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.628779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705380; longitude = -122.099232; captureRadius = 10; duration = 84; initialDepth = 1797.879001; finalDepth = 1794.628779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3323660000001 # Actual altitude: 51.3323660000001 # Commanded vehicle depth:1794.628779 # Seafloor depth:-1845.003683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1847.879001 meters looking forward 100.000000 meters along route # Maximum depth: 1849.308717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.879001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705021; longitude = -122.100016; captureRadius = 10; duration = 84; initialDepth = 1799.193392; finalDepth = 1797.879001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5648819999999 # Actual altitude: 50.5648819999999 # Commanded vehicle depth:1797.879001 # Seafloor depth:-1848.443883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1849.193392 meters looking forward 100.000000 meters along route # Maximum depth: 1853.085951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.193392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704661; longitude = -122.100800; captureRadius = 10; duration = 84; initialDepth = 1802.770290; finalDepth = 1799.193392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5648819999999 # Actual altitude: 50.5648819999999 # Commanded vehicle depth:1799.193392 # Seafloor depth:-1849.383299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1852.770290 meters looking forward 100.000000 meters along route # Maximum depth: 1855.622698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.770290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704301; longitude = -122.101584; captureRadius = 10; duration = 84; initialDepth = 1804.309860; finalDepth = 1802.770290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529209 # Actual altitude: 50.529209 # Commanded vehicle depth:1802.77029 # Seafloor depth:-1853.299499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1854.309860 meters looking forward 100.000000 meters along route # Maximum depth: 1856.620058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.309860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703942; longitude = -122.102369; captureRadius = 10; duration = 84; initialDepth = 1806.296603; finalDepth = 1804.309860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529209 # Actual altitude: 50.529209 # Commanded vehicle depth:1804.30986 # Seafloor depth:-1854.542502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1856.296603 meters looking forward 100.000000 meters along route # Maximum depth: 1858.344665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.296603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703582; longitude = -122.103153; captureRadius = 10; duration = 84; initialDepth = 1808.140607; finalDepth = 1806.296603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4611 # Actual altitude: 50.4611 # Commanded vehicle depth:1806.296603 # Seafloor depth:-1856.757703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1858.140607 meters looking forward 100.000000 meters along route # Maximum depth: 1860.505668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.140607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703222; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1810.163243; finalDepth = 1808.140607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4611 # Actual altitude: 50.4611 # Commanded vehicle depth:1808.140607 # Seafloor depth:-1858.140607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1860.163243 meters looking forward 100.000000 meters along route # Maximum depth: 1862.164310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.163243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702863; longitude = -122.104721; captureRadius = 10; duration = 84; initialDepth = 1812.049716; finalDepth = 1810.163243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4535100000001 # Actual altitude: 50.4535100000001 # Commanded vehicle depth:1810.163243 # Seafloor depth:-1860.616753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1862.049716 meters looking forward 100.000000 meters along route # Maximum depth: 1865.154419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.049716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702503; longitude = -122.105505; captureRadius = 10; duration = 84; initialDepth = 1814.734269; finalDepth = 1812.049716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4535100000001 # Actual altitude: 50.4535100000001 # Commanded vehicle depth:1812.049716 # Seafloor depth:-1862.235137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1864.734269 meters looking forward 100.000000 meters along route # Maximum depth: 1869.668946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.734269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702143; longitude = -122.106290; captureRadius = 10; duration = 84; initialDepth = 1819.576770; finalDepth = 1814.734269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.54243 # Actual altitude: 50.54243 # Commanded vehicle depth:1814.734269 # Seafloor depth:-1865.276699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1869.576770 meters looking forward 100.000000 meters along route # Maximum depth: 1871.164624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.576770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701784; longitude = -122.107074; captureRadius = 10; duration = 84; initialDepth = 1820.764643; finalDepth = 1819.576770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.54243 # Actual altitude: 50.54243 # Commanded vehicle depth:1819.57677 # Seafloor depth:-1869.677086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1870.764643 meters looking forward 100.000000 meters along route # Maximum depth: 1873.201716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.764643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701424; longitude = -122.107858; captureRadius = 10; duration = 84; initialDepth = 1823.009288; finalDepth = 1820.764643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4828440000001 # Actual altitude: 50.4828440000001 # Commanded vehicle depth:1820.764643 # Seafloor depth:-1871.247487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1873.009288 meters looking forward 100.000000 meters along route # Maximum depth: 1873.632227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.009288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701064; longitude = -122.108642; captureRadius = 10; duration = 84; initialDepth = 1822.977831; finalDepth = 1823.009288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4828440000001 # Actual altitude: 50.4828440000001 # Commanded vehicle depth:1823.009288 # Seafloor depth:-1873.191581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1872.977831 meters looking forward 100.000000 meters along route # Maximum depth: 1874.532404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.977831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700705; longitude = -122.109426; captureRadius = 10; duration = 84; initialDepth = 1821.988258; finalDepth = 1822.977831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1822930000001 # Actual altitude: 50.1822930000001 # Commanded vehicle depth:1822.977831 # Seafloor depth:-1873.019058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1871.988258 meters looking forward 100.000000 meters along route # Maximum depth: 1873.484660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.988258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700345; longitude = -122.110211; captureRadius = 10; duration = 84; initialDepth = 1822.413992; finalDepth = 1821.988258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9093949999999 # Actual altitude: 50.9093949999999 # Commanded vehicle depth:1821.988258 # Seafloor depth:-1872.897653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1872.413992 meters looking forward 100.000000 meters along route # Maximum depth: 1875.321467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.413992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699985; longitude = -122.110995; captureRadius = 10; duration = 84; initialDepth = 1822.075494; finalDepth = 1822.413992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9093949999999 # Actual altitude: 50.9093949999999 # Commanded vehicle depth:1822.413992 # Seafloor depth:-1872.805273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1872.075494 meters looking forward 100.000000 meters along route # Maximum depth: 1875.150547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.075494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699626; longitude = -122.111779; captureRadius = 10; duration = 84; initialDepth = 1823.049300; finalDepth = 1822.075494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6116400000001 # Actual altitude: 52.6116400000001 # Commanded vehicle depth:1822.075494 # Seafloor depth:-1874.687134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.477679 meters # Minimum depth: 1873.049300 meters looking forward 100.000000 meters along route # Maximum depth: 1875.647016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.049300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699266; longitude = -122.112563; captureRadius = 10; duration = 84; initialDepth = 1824.388947; finalDepth = 1823.049300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6116400000001 # Actual altitude: 52.6116400000001 # Commanded vehicle depth:1823.0493 # Seafloor depth:-1874.079493 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 84.477679 meters # Minimum depth: 1874.388947 meters looking forward 100.000000 meters along route # Maximum depth: 1875.647016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.388947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698881; longitude = -122.113403; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1824.388947; finalDepth = 1824.388947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0301930000001 # Actual altitude: 51.0301930000001 # Commanded vehicle depth:1824.388947 # Seafloor depth:-1874.388947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 84.477679 meters # Minimum depth: 1874.388947 meters looking forward 100.000000 meters along route # Maximum depth: 1875.782340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.388947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.113389; captureRadius = 10; duration = 84; initialDepth = 1825.782340; finalDepth = 1824.388947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5646360000001 # Actual altitude: 50.5646360000001 # Commanded vehicle depth:1824.388947 # Seafloor depth:-1874.953583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 84.477679 meters # Minimum depth: 1875.782340 meters looking forward 100.000000 meters along route # Maximum depth: 1877.398146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.782340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.113323; captureRadius = 10; duration = 84; initialDepth = 1826.182051; finalDepth = 1825.782340; 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: 50.5646360000001 # Actual altitude: 50.5646360000001 # Commanded vehicle depth:1825.78234 # Seafloor depth:-1875.821524 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 84.477679 meters # Minimum depth: 1876.182051 meters looking forward 100.000000 meters along route # Maximum depth: 1878.109497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.182051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.113254; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1827.193759; finalDepth = 1826.182051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9274459999999 # Actual altitude: 51.9274459999999 # Commanded vehicle depth:1826.182051 # Seafloor depth:-1878.109497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1877.193759 meters looking forward 100.000000 meters along route # Maximum depth: 1886.886451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.193759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.112983; captureRadius = 10; duration = 84; initialDepth = 1834.306438; finalDepth = 1827.193759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9274459999999 # Actual altitude: 51.9274459999999 # Commanded vehicle depth:1827.193759 # Seafloor depth:-1877.395216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1884.306438 meters looking forward 100.000000 meters along route # Maximum depth: 1892.081107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.306438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697741; longitude = -122.112227; captureRadius = 10; duration = 84; initialDepth = 1835.865911; finalDepth = 1834.306438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.623531 # Actual altitude: 52.623531 # Commanded vehicle depth:1834.306438 # Seafloor depth:-1886.929969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1885.865911 meters looking forward 100.000000 meters along route # Maximum depth: 1892.081107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.865911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698100; longitude = -122.111479; captureRadius = 10; duration = 84; initialDepth = 1834.435310; finalDepth = 1835.865911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.984796 # Actual altitude: 55.984796 # Commanded vehicle depth:1835.865911 # Seafloor depth:-1891.850707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1884.435310 meters looking forward 100.000000 meters along route # Maximum depth: 1886.784254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.435310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.110727; captureRadius = 10; duration = 84; initialDepth = 1832.785866; finalDepth = 1834.435310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.984796 # Actual altitude: 55.984796 # Commanded vehicle depth:1834.43531 # Seafloor depth:-1885.702392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1882.785866 meters looking forward 100.000000 meters along route # Maximum depth: 1885.252901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.785866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.109974; captureRadius = 10; duration = 84; initialDepth = 1831.918256; finalDepth = 1832.785866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5971400000001 # Actual altitude: 51.5971400000001 # Commanded vehicle depth:1832.785866 # Seafloor depth:-1884.383006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1881.918256 meters looking forward 100.000000 meters along route # Maximum depth: 1883.278015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.918256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699190; longitude = -122.109202; captureRadius = 10; duration = 84; initialDepth = 1828.303640; finalDepth = 1831.918256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5971400000001 # Actual altitude: 51.5971400000001 # Commanded vehicle depth:1831.918256 # Seafloor depth:-1882.887564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1878.303640 meters looking forward 100.000000 meters along route # Maximum depth: 1882.692325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.303640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.108470; captureRadius = 10; duration = 84; initialDepth = 1824.166441; finalDepth = 1828.303640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.18833 # Actual altitude: 53.18833 # Commanded vehicle depth:1828.30364 # Seafloor depth:-1881.491970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1874.166441 meters looking forward 100.000000 meters along route # Maximum depth: 1878.422098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.166441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.107718; captureRadius = 10; duration = 84; initialDepth = 1823.202485; finalDepth = 1824.166441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1111089999999 # Actual altitude: 54.1111089999999 # Commanded vehicle depth:1824.166441 # Seafloor depth:-1878.277550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1873.202485 meters looking forward 100.000000 meters along route # Maximum depth: 1875.249131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.202485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700264; longitude = -122.106962; captureRadius = 10; duration = 84; initialDepth = 1819.110685; finalDepth = 1823.202485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1111089999999 # Actual altitude: 54.1111089999999 # Commanded vehicle depth:1823.202485 # Seafloor depth:-1874.151760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1869.110685 meters looking forward 100.000000 meters along route # Maximum depth: 1873.660918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.110685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.106213; captureRadius = 10; duration = 84; initialDepth = 1816.663231; finalDepth = 1819.110685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6007969999998 # Actual altitude: 53.6007969999998 # Commanded vehicle depth:1819.110685 # Seafloor depth:-1872.711482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1866.663231 meters looking forward 100.000000 meters along route # Maximum depth: 1869.591807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.663231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.105461; captureRadius = 10; duration = 84; initialDepth = 1812.969248; finalDepth = 1816.663231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6007969999998 # Actual altitude: 53.6007969999998 # Commanded vehicle depth:1816.663231 # Seafloor depth:-1868.969995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1862.969248 meters looking forward 100.000000 meters along route # Maximum depth: 1866.933532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.969248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.104709; captureRadius = 10; duration = 84; initialDepth = 1811.835298; finalDepth = 1812.969248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6718879999999 # Actual altitude: 53.6718879999999 # Commanded vehicle depth:1812.969248 # Seafloor depth:-1866.641136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1861.835298 meters looking forward 100.000000 meters along route # Maximum depth: 1864.362421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.835298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701714; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1810.849753; finalDepth = 1811.835298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6718879999999 # Actual altitude: 53.6718879999999 # Commanded vehicle depth:1811.835298 # Seafloor depth:-1862.842050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1860.849753 meters looking forward 100.000000 meters along route # Maximum depth: 1862.068263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.849753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.103204; captureRadius = 10; duration = 84; initialDepth = 1808.384233; finalDepth = 1810.849753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.006752 # Actual altitude: 51.006752 # Commanded vehicle depth:1810.849753 # Seafloor depth:-1861.726554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1858.384233 meters looking forward 100.000000 meters along route # Maximum depth: 1860.999645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.384233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.102452; captureRadius = 10; duration = 84; initialDepth = 1808.384233; finalDepth = 1808.384233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4266889999999 # Actual altitude: 52.4266889999999 # Commanded vehicle depth:1808.384233 # Seafloor depth:-1860.810922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1858.384233 meters looking forward 100.000000 meters along route # Maximum depth: 1859.896247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.384233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702787; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1803.583468; finalDepth = 1808.384233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4266889999999 # Actual altitude: 52.4266889999999 # Commanded vehicle depth:1808.384233 # Seafloor depth:-1858.386207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1853.583468 meters looking forward 100.000000 meters along route # Maximum depth: 1859.647449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.583468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.100947; captureRadius = 10; duration = 84; initialDepth = 1803.314099; finalDepth = 1803.583468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9500329999998 # Actual altitude: 54.9500329999998 # Commanded vehicle depth:1803.583468 # Seafloor depth:-1858.533501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1853.314099 meters looking forward 100.000000 meters along route # Maximum depth: 1854.979752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.314099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.100195; captureRadius = 10; duration = 84; initialDepth = 1799.301019; finalDepth = 1803.314099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9500329999998 # Actual altitude: 54.9500329999998 # Commanded vehicle depth:1803.314099 # Seafloor depth:-1853.468188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1849.301019 meters looking forward 100.000000 meters along route # Maximum depth: 1854.979752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.301019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.099443; captureRadius = 10; duration = 84; initialDepth = 1797.878399; finalDepth = 1799.301019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6376190000001 # Actual altitude: 55.6376190000001 # Commanded vehicle depth:1799.301019 # Seafloor depth:-1854.938638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1847.878399 meters looking forward 100.000000 meters along route # Maximum depth: 1850.317167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.878399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704237; longitude = -122.098672; captureRadius = 10; duration = 84; initialDepth = 1791.738546; finalDepth = 1797.878399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6376190000001 # Actual altitude: 55.6376190000001 # Commanded vehicle depth:1797.878399 # Seafloor depth:-1849.217665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1841.738546 meters looking forward 100.000000 meters along route # Maximum depth: 1848.341844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.738546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704588; longitude = -122.097938; captureRadius = 10; duration = 84; initialDepth = 1785.940163; finalDepth = 1791.738546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.749456 # Actual altitude: 55.749456 # Commanded vehicle depth:1791.738546 # Seafloor depth:-1847.488002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1835.940163 meters looking forward 100.000000 meters along route # Maximum depth: 1842.099327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.940163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704948; longitude = -122.097186; captureRadius = 10; duration = 84; initialDepth = 1785.400510; finalDepth = 1785.940163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8349860000001 # Actual altitude: 55.8349860000001 # Commanded vehicle depth:1785.940163 # Seafloor depth:-1841.775149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1835.400510 meters looking forward 100.000000 meters along route # Maximum depth: 1838.572182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.400510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705310; longitude = -122.096431; captureRadius = 10; duration = 84; initialDepth = 1784.987688; finalDepth = 1785.400510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8349860000001 # Actual altitude: 55.8349860000001 # Commanded vehicle depth:1785.40051 # Seafloor depth:-1835.909997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1834.987688 meters looking forward 100.000000 meters along route # Maximum depth: 1836.658647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.987688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.095682; captureRadius = 10; duration = 84; initialDepth = 1777.700079; finalDepth = 1784.987688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.313615 # Actual altitude: 51.313615 # Commanded vehicle depth:1784.987688 # Seafloor depth:-1836.301303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1827.700079 meters looking forward 100.000000 meters along route # Maximum depth: 1835.900112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.700079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.094929; captureRadius = 10; duration = 84; initialDepth = 1772.318523; finalDepth = 1777.700079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6277729999999 # Actual altitude: 56.6277729999999 # Commanded vehicle depth:1777.700079 # Seafloor depth:-1834.327852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1822.318523 meters looking forward 100.000000 meters along route # Maximum depth: 1828.462995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.318523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706390; longitude = -122.094177; captureRadius = 10; duration = 84; initialDepth = 1764.368244; finalDepth = 1772.318523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6277729999999 # Actual altitude: 56.6277729999999 # Commanded vehicle depth:1772.318523 # Seafloor depth:-1828.367899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1814.368244 meters looking forward 100.000000 meters along route # Maximum depth: 1823.772167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.368244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706760; longitude = -122.093406; captureRadius = 10; duration = 84; initialDepth = 1756.353833; finalDepth = 1764.368244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.703512 # Actual altitude: 57.703512 # Commanded vehicle depth:1764.368244 # Seafloor depth:-1822.071756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.477679 meters # Minimum depth: 1806.353833 meters looking forward 100.000000 meters along route # Maximum depth: 1817.273950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.353833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707135; longitude = -122.092622; captureRadius = 10; duration = 84; initialDepth = 1755.142395; finalDepth = 1756.353833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.703512 # Actual altitude: 57.703512 # Commanded vehicle depth:1756.353833 # Seafloor depth:-1813.395001 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 84.477679 meters # Minimum depth: 1805.142395 meters looking forward 100.000000 meters along route # Maximum depth: 1811.448047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.142395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707488; longitude = -122.091886; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1758.312367; finalDepth = 1755.142395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0411680000002 # Actual altitude: 57.0411680000002 # Commanded vehicle depth:1755.142395 # Seafloor depth:-1805.142395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 84.477679 meters # Minimum depth: 1808.312367 meters looking forward 100.000000 meters along route # Maximum depth: 1813.632058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.312367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707352; longitude = -122.091614; captureRadius = 10; duration = 84; initialDepth = 1763.451060; finalDepth = 1758.312367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5584429999999 # Actual altitude: 51.5584429999999 # Commanded vehicle depth:1758.312367 # Seafloor depth:-1809.870810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 84.477679 meters # Minimum depth: 1813.451060 meters looking forward 100.000000 meters along route # Maximum depth: 1814.306143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.451060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706959; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1763.188965; finalDepth = 1763.451060; 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: 51.5584429999999 # Actual altitude: 51.5584429999999 # Commanded vehicle depth:1763.45106 # Seafloor depth:-1813.766730 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 84.477679 meters # Minimum depth: 1813.188965 meters looking forward 100.000000 meters along route # Maximum depth: 1817.019652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.188965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.090105; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1766.356418; finalDepth = 1763.188965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.31567 # Actual altitude: 50.31567 # Commanded vehicle depth:1763.188965 # Seafloor depth:-1813.188965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1816.356418 meters looking forward 100.000000 meters along route # Maximum depth: 1822.477714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.356418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706390; longitude = -122.090545; captureRadius = 10; duration = 84; initialDepth = 1771.924150; finalDepth = 1766.356418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.000288 # Actual altitude: 51.000288 # Commanded vehicle depth:1766.356418 # Seafloor depth:-1817.356706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1821.924150 meters looking forward 100.000000 meters along route # Maximum depth: 1826.414553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.924150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.091311; captureRadius = 10; duration = 84; initialDepth = 1775.432083; finalDepth = 1771.924150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.000288 # Actual altitude: 51.000288 # Commanded vehicle depth:1771.92415 # Seafloor depth:-1822.644057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1825.432083 meters looking forward 100.000000 meters along route # Maximum depth: 1830.125680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.432083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.092077; captureRadius = 10; duration = 84; initialDepth = 1779.821353; finalDepth = 1775.432083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.021017 # Actual altitude: 51.021017 # Commanded vehicle depth:1775.432083 # Seafloor depth:-1826.453100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1829.821353 meters looking forward 100.000000 meters along route # Maximum depth: 1832.356431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.821353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705307; longitude = -122.092846; captureRadius = 10; duration = 84; initialDepth = 1781.870661; finalDepth = 1779.821353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.021017 # Actual altitude: 51.021017 # Commanded vehicle depth:1779.821353 # Seafloor depth:-1830.130946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1831.870661 meters looking forward 100.000000 meters along route # Maximum depth: 1835.896173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.870661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704938; longitude = -122.093630; captureRadius = 10; duration = 84; initialDepth = 1785.144035; finalDepth = 1781.870661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.608442 # Actual altitude: 50.608442 # Commanded vehicle depth:1781.870661 # Seafloor depth:-1832.479103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1835.144035 meters looking forward 100.000000 meters along route # Maximum depth: 1839.597962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.144035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704569; longitude = -122.094414; captureRadius = 10; duration = 84; initialDepth = 1788.658880; finalDepth = 1785.144035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8637550000001 # Actual altitude: 50.8637550000001 # Commanded vehicle depth:1785.144035 # Seafloor depth:-1836.007790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1838.658880 meters looking forward 100.000000 meters along route # Maximum depth: 1845.214439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.658880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.095141; captureRadius = 10; duration = 84; initialDepth = 1793.551231; finalDepth = 1788.658880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1909929999999 # Actual altitude: 51.1909929999999 # Commanded vehicle depth:1788.65888 # Seafloor depth:-1839.849873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1843.551231 meters looking forward 100.000000 meters along route # Maximum depth: 1848.606239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.551231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.095907; captureRadius = 10; duration = 84; initialDepth = 1798.192612; finalDepth = 1793.551231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9170040000001 # Actual altitude: 51.9170040000001 # Commanded vehicle depth:1793.551231 # Seafloor depth:-1845.468235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1848.192612 meters looking forward 100.000000 meters along route # Maximum depth: 1849.505284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.192612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.096673; captureRadius = 10; duration = 84; initialDepth = 1799.495227; finalDepth = 1798.192612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9170040000001 # Actual altitude: 51.9170040000001 # Commanded vehicle depth:1798.192612 # Seafloor depth:-1848.615257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1849.495227 meters looking forward 100.000000 meters along route # Maximum depth: 1853.377264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.495227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.097439; captureRadius = 10; duration = 84; initialDepth = 1802.691652; finalDepth = 1799.495227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4226449999999 # Actual altitude: 50.4226449999999 # Commanded vehicle depth:1799.495227 # Seafloor depth:-1849.495227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1852.691652 meters looking forward 100.000000 meters along route # Maximum depth: 1855.214432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.691652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702777; longitude = -122.098223; captureRadius = 10; duration = 84; initialDepth = 1804.899089; finalDepth = 1802.691652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8095519999999 # Actual altitude: 50.8095519999999 # Commanded vehicle depth:1802.691652 # Seafloor depth:-1853.501204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1854.899089 meters looking forward 100.000000 meters along route # Maximum depth: 1856.131799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.899089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702408; longitude = -122.099008; captureRadius = 10; duration = 84; initialDepth = 1805.877596; finalDepth = 1804.899089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8095519999999 # Actual altitude: 50.8095519999999 # Commanded vehicle depth:1804.899089 # Seafloor depth:-1854.951935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1855.877596 meters looking forward 100.000000 meters along route # Maximum depth: 1860.120915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.877596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.099736; captureRadius = 10; duration = 84; initialDepth = 1809.005644; finalDepth = 1805.877596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.362167 # Actual altitude: 50.362167 # Commanded vehicle depth:1805.877596 # Seafloor depth:-1856.239763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1859.005644 meters looking forward 100.000000 meters along route # Maximum depth: 1861.218841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.005644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.100502; captureRadius = 10; duration = 84; initialDepth = 1810.606279; finalDepth = 1809.005644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2689149999999 # Actual altitude: 51.2689149999999 # Commanded vehicle depth:1809.005644 # Seafloor depth:-1860.274559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1860.606279 meters looking forward 100.000000 meters along route # Maximum depth: 1862.579218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.606279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.101268; captureRadius = 10; duration = 84; initialDepth = 1812.207672; finalDepth = 1810.606279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2689149999999 # Actual altitude: 51.2689149999999 # Commanded vehicle depth:1810.606279 # Seafloor depth:-1861.323064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1862.207672 meters looking forward 100.000000 meters along route # Maximum depth: 1865.295505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.207672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.102034; captureRadius = 10; duration = 84; initialDepth = 1814.612650; finalDepth = 1812.207672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7167849999998 # Actual altitude: 50.7167849999998 # Commanded vehicle depth:1812.207672 # Seafloor depth:-1862.372449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1864.612650 meters looking forward 100.000000 meters along route # Maximum depth: 1866.382921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.612650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700615; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1815.936445; finalDepth = 1814.612650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7898599999999 # Actual altitude: 50.7898599999999 # Commanded vehicle depth:1814.61265 # Seafloor depth:-1865.402510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1865.936445 meters looking forward 100.000000 meters along route # Maximum depth: 1870.963712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.936445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700246; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1820.657188; finalDepth = 1815.936445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7898599999999 # Actual altitude: 50.7898599999999 # Commanded vehicle depth:1815.936445 # Seafloor depth:-1866.560959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1870.657188 meters looking forward 100.000000 meters along route # Maximum depth: 1873.107365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.657188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.104332; captureRadius = 10; duration = 84; initialDepth = 1822.407931; finalDepth = 1820.657188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6245139999999 # Actual altitude: 50.6245139999999 # Commanded vehicle depth:1820.657188 # Seafloor depth:-1871.079660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1872.407931 meters looking forward 100.000000 meters along route # Maximum depth: 1875.052933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.407931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.105098; captureRadius = 10; duration = 84; initialDepth = 1825.009617; finalDepth = 1822.407931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9129500000001 # Actual altitude: 50.9129500000001 # Commanded vehicle depth:1822.407931 # Seafloor depth:-1873.320881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1875.009617 meters looking forward 100.000000 meters along route # Maximum depth: 1879.578738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.009617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.105864; captureRadius = 10; duration = 84; initialDepth = 1828.831125; finalDepth = 1825.009617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9129500000001 # Actual altitude: 50.9129500000001 # Commanded vehicle depth:1825.009617 # Seafloor depth:-1875.078200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1878.831125 meters looking forward 100.000000 meters along route # Maximum depth: 1881.656043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.831125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.106630; captureRadius = 10; duration = 84; initialDepth = 1831.443734; finalDepth = 1828.831125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.778221 # Actual altitude: 50.778221 # Commanded vehicle depth:1828.831125 # Seafloor depth:-1879.609346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1881.443734 meters looking forward 100.000000 meters along route # Maximum depth: 1886.444484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.443734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698454; longitude = -122.107410; captureRadius = 10; duration = 84; initialDepth = 1834.889665; finalDepth = 1831.443734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.778221 # Actual altitude: 50.778221 # Commanded vehicle depth:1831.443734 # Seafloor depth:-1881.698179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1884.889665 meters looking forward 100.000000 meters along route # Maximum depth: 1890.516196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.889665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698085; longitude = -122.108194; captureRadius = 10; duration = 84; initialDepth = 1840.081118; finalDepth = 1834.889665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.852991 # Actual altitude: 51.852991 # Commanded vehicle depth:1834.889665 # Seafloor depth:-1886.742656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1890.081118 meters looking forward 100.000000 meters along route # Maximum depth: 1892.261638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.081118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.108928; captureRadius = 10; duration = 84; initialDepth = 1841.537719; finalDepth = 1840.081118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.852991 # Actual altitude: 51.852991 # Commanded vehicle depth:1840.081118 # Seafloor depth:-1890.344272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1891.537719 meters looking forward 100.000000 meters along route # Maximum depth: 1893.597414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.537719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.109694; captureRadius = 10; duration = 84; initialDepth = 1843.227590; finalDepth = 1841.537719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9137310000001 # Actual altitude: 50.9137310000001 # Commanded vehicle depth:1841.537719 # Seafloor depth:-1892.451450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1893.227590 meters looking forward 100.000000 meters along route # Maximum depth: 1897.339885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.227590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.110460; captureRadius = 10; duration = 84; initialDepth = 1844.483221; finalDepth = 1843.227590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9137310000001 # Actual altitude: 50.9137310000001 # Commanded vehicle depth:1843.22759 # Seafloor depth:-1893.723631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1894.483221 meters looking forward 100.000000 meters along route # Maximum depth: 1897.306838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.483221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.111226; captureRadius = 10; duration = 84; initialDepth = 1840.840036; finalDepth = 1844.483221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1617060000001 # Actual altitude: 52.1617060000001 # Commanded vehicle depth:1844.483221 # Seafloor depth:-1896.644927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.477679 meters # Minimum depth: 1890.840036 meters looking forward 100.000000 meters along route # Maximum depth: 1896.292381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.840036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696292; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1838.944275; finalDepth = 1840.840036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0824239999999 # Actual altitude: 55.0824239999999 # Commanded vehicle depth:1840.840036 # Seafloor depth:-1895.922460 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 84.477679 meters # Minimum depth: 1888.944275 meters looking forward 100.000000 meters along route # Maximum depth: 1896.292381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.944275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.112809; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1822.014000; finalDepth = 1838.944275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0824239999999 # Actual altitude: 55.0824239999999 # Commanded vehicle depth:1838.944275 # Seafloor depth:-1888.944275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 84.477679 meters # Minimum depth: 1872.014000 meters looking forward 100.000000 meters along route # Maximum depth: 1891.648675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.014000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695804; longitude = -122.112787; captureRadius = 10; duration = 84; initialDepth = 1818.786689; finalDepth = 1822.014000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1556850000002 # Actual altitude: 66.1556850000002 # Commanded vehicle depth:1822.014 # Seafloor depth:-1888.169685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 84.477679 meters # Minimum depth: 1868.786689 meters looking forward 100.000000 meters along route # Maximum depth: 1887.130858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.786689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.112651; captureRadius = 10; duration = 84; initialDepth = 1833.135121; finalDepth = 1818.786689; 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: 66.1556850000002 # Actual altitude: 66.1556850000002 # Commanded vehicle depth:1818.786689 # Seafloor depth:-1869.771378 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 84.477679 meters # Minimum depth: 1883.135121 meters looking forward 100.000000 meters along route # Maximum depth: 1900.579099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.135121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.112512; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1848.021885; finalDepth = 1833.135121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7899279999999 # Actual altitude: 55.7899279999999 # Commanded vehicle depth:1833.135121 # Seafloor depth:-1888.925049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1898.021885 meters looking forward 100.000000 meters along route # Maximum depth: 1904.761390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.021885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.111814; captureRadius = 10; duration = 84; initialDepth = 1852.005724; finalDepth = 1848.021885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7899279999999 # Actual altitude: 55.7899279999999 # Commanded vehicle depth:1848.021885 # Seafloor depth:-1901.825423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1902.005724 meters looking forward 100.000000 meters along route # Maximum depth: 1904.761390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.005724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.111065; captureRadius = 10; duration = 84; initialDepth = 1848.985972; finalDepth = 1852.005724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8035379999999 # Actual altitude: 53.8035379999999 # Commanded vehicle depth:1852.005724 # Seafloor depth:-1904.159204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1898.985972 meters looking forward 100.000000 meters along route # Maximum depth: 1902.033300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.985972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695486; longitude = -122.110316; captureRadius = 10; duration = 84; initialDepth = 1844.202184; finalDepth = 1848.985972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.029362 # Actual altitude: 53.029362 # Commanded vehicle depth:1848.985972 # Seafloor depth:-1902.015334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1894.202184 meters looking forward 100.000000 meters along route # Maximum depth: 1899.725044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.202184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.109568; captureRadius = 10; duration = 84; initialDepth = 1841.166409; finalDepth = 1844.202184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2249870000001 # Actual altitude: 54.2249870000001 # Commanded vehicle depth:1844.202184 # Seafloor depth:-1898.427171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1891.166409 meters looking forward 100.000000 meters along route # Maximum depth: 1894.341868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.166409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.108819; captureRadius = 10; duration = 84; initialDepth = 1839.786751; finalDepth = 1841.166409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2249870000001 # Actual altitude: 54.2249870000001 # Commanded vehicle depth:1841.166409 # Seafloor depth:-1894.177157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1889.786751 meters looking forward 100.000000 meters along route # Maximum depth: 1892.011543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.786751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.108071; captureRadius = 10; duration = 84; initialDepth = 1836.326501; finalDepth = 1839.786751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0107480000001 # Actual altitude: 53.0107480000001 # Commanded vehicle depth:1839.786751 # Seafloor depth:-1891.133485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1886.326501 meters looking forward 100.000000 meters along route # Maximum depth: 1890.494377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.326501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696940; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1832.855152; finalDepth = 1836.326501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3412289999999 # Actual altitude: 53.3412289999999 # Commanded vehicle depth:1836.326501 # Seafloor depth:-1889.667730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1882.855152 meters looking forward 100.000000 meters along route # Maximum depth: 1886.960046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.855152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.106573; captureRadius = 10; duration = 84; initialDepth = 1830.175567; finalDepth = 1832.855152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3412289999999 # Actual altitude: 53.3412289999999 # Commanded vehicle depth:1832.855152 # Seafloor depth:-1886.088968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1880.175567 meters looking forward 100.000000 meters along route # Maximum depth: 1883.401607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.175567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.105825; captureRadius = 10; duration = 84; initialDepth = 1825.926365; finalDepth = 1830.175567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2338159999999 # Actual altitude: 53.2338159999999 # Commanded vehicle depth:1830.175567 # Seafloor depth:-1882.810072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1875.926365 meters looking forward 100.000000 meters along route # Maximum depth: 1881.184747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.926365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698019; longitude = -122.105057; captureRadius = 10; duration = 84; initialDepth = 1823.831161; finalDepth = 1825.926365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1426489999999 # Actual altitude: 54.1426489999999 # Commanded vehicle depth:1825.926365 # Seafloor depth:-1880.069014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1873.831161 meters looking forward 100.000000 meters along route # Maximum depth: 1876.753510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.831161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.104327; captureRadius = 10; duration = 84; initialDepth = 1821.596517; finalDepth = 1823.831161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1426489999999 # Actual altitude: 54.1426489999999 # Commanded vehicle depth:1823.831161 # Seafloor depth:-1875.534948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1871.596517 meters looking forward 100.000000 meters along route # Maximum depth: 1873.953859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.596517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.103579; captureRadius = 10; duration = 84; initialDepth = 1819.090891; finalDepth = 1821.596517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353257 # Actual altitude: 52.353257 # Commanded vehicle depth:1821.596517 # Seafloor depth:-1873.949774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1869.090891 meters looking forward 100.000000 meters along route # Maximum depth: 1872.692479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.090891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699097; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1815.378468; finalDepth = 1819.090891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4436029999999 # Actual altitude: 52.4436029999999 # Commanded vehicle depth:1819.090891 # Seafloor depth:-1871.534494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1865.378468 meters looking forward 100.000000 meters along route # Maximum depth: 1869.848598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.378468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699451; longitude = -122.102082; captureRadius = 10; duration = 84; initialDepth = 1812.667567; finalDepth = 1815.378468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3086409999999 # Actual altitude: 53.3086409999999 # Commanded vehicle depth:1815.378468 # Seafloor depth:-1868.687109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1862.667567 meters looking forward 100.000000 meters along route # Maximum depth: 1865.932597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.667567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699812; longitude = -122.101333; captureRadius = 10; duration = 84; initialDepth = 1810.931749; finalDepth = 1812.667567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3086409999999 # Actual altitude: 53.3086409999999 # Commanded vehicle depth:1812.667567 # Seafloor depth:-1865.310544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1860.931749 meters looking forward 100.000000 meters along route # Maximum depth: 1863.411478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.931749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700176; longitude = -122.100576; captureRadius = 10; duration = 84; initialDepth = 1808.289376; finalDepth = 1810.931749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.642977 # Actual altitude: 52.642977 # Commanded vehicle depth:1810.931749 # Seafloor depth:-1862.640085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1858.289376 meters looking forward 100.000000 meters along route # Maximum depth: 1861.607282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.289376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700533; longitude = -122.099836; captureRadius = 10; duration = 84; initialDepth = 1805.046668; finalDepth = 1808.289376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2048770000001 # Actual altitude: 52.2048770000001 # Commanded vehicle depth:1808.289376 # Seafloor depth:-1860.494253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1855.046668 meters looking forward 100.000000 meters along route # Maximum depth: 1858.496046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.046668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700893; longitude = -122.099087; captureRadius = 10; duration = 84; initialDepth = 1802.198064; finalDepth = 1805.046668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2009290000001 # Actual altitude: 53.2009290000001 # Commanded vehicle depth:1805.046668 # Seafloor depth:-1858.247597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1852.198064 meters looking forward 100.000000 meters along route # Maximum depth: 1856.839312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.198064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701255; longitude = -122.098335; captureRadius = 10; duration = 84; initialDepth = 1799.298151; finalDepth = 1802.198064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2009290000001 # Actual altitude: 53.2009290000001 # Commanded vehicle depth:1802.198064 # Seafloor depth:-1855.013164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1849.298151 meters looking forward 100.000000 meters along route # Maximum depth: 1852.252534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.298151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701614; longitude = -122.097590; captureRadius = 10; duration = 84; initialDepth = 1795.951125; finalDepth = 1799.298151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9247780000001 # Actual altitude: 52.9247780000001 # Commanded vehicle depth:1799.298151 # Seafloor depth:-1852.222929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1845.951125 meters looking forward 100.000000 meters along route # Maximum depth: 1850.140365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.951125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701975; longitude = -122.096841; captureRadius = 10; duration = 84; initialDepth = 1793.740815; finalDepth = 1795.951125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.219055 # Actual altitude: 53.219055 # Commanded vehicle depth:1795.951125 # Seafloor depth:-1849.170180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1843.740815 meters looking forward 100.000000 meters along route # Maximum depth: 1846.960137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.740815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.096093; captureRadius = 10; duration = 84; initialDepth = 1790.406418; finalDepth = 1793.740815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.219055 # Actual altitude: 53.219055 # Commanded vehicle depth:1793.740815 # Seafloor depth:-1845.940294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1840.406418 meters looking forward 100.000000 meters along route # Maximum depth: 1843.963417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.406418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.095344; captureRadius = 10; duration = 84; initialDepth = 1786.146695; finalDepth = 1790.406418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1658210000001 # Actual altitude: 53.1658210000001 # Commanded vehicle depth:1790.406418 # Seafloor depth:-1843.572239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1836.146695 meters looking forward 100.000000 meters along route # Maximum depth: 1841.143791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.146695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.094596; captureRadius = 10; duration = 84; initialDepth = 1784.167213; finalDepth = 1786.146695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0948760000001 # Actual altitude: 54.0948760000001 # Commanded vehicle depth:1786.146695 # Seafloor depth:-1840.241571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1834.167213 meters looking forward 100.000000 meters along route # Maximum depth: 1837.549264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.167213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.093847; captureRadius = 10; duration = 84; initialDepth = 1782.351306; finalDepth = 1784.167213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0948760000001 # Actual altitude: 54.0948760000001 # Commanded vehicle depth:1784.167213 # Seafloor depth:-1836.409018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1832.351306 meters looking forward 100.000000 meters along route # Maximum depth: 1835.160761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.351306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.093098; captureRadius = 10; duration = 84; initialDepth = 1779.211779; finalDepth = 1782.351306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2418050000001 # Actual altitude: 52.2418050000001 # Commanded vehicle depth:1782.351306 # Seafloor depth:-1833.789677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1829.211779 meters looking forward 100.000000 meters along route # Maximum depth: 1832.642152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.211779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704137; longitude = -122.092350; captureRadius = 10; duration = 84; initialDepth = 1774.476169; finalDepth = 1779.211779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.042886 # Actual altitude: 53.042886 # Commanded vehicle depth:1779.211779 # Seafloor depth:-1832.254665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1824.476169 meters looking forward 100.000000 meters along route # Maximum depth: 1830.313060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.476169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704498; longitude = -122.091601; captureRadius = 10; duration = 84; initialDepth = 1769.896131; finalDepth = 1774.476169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6373369999999 # Actual altitude: 54.6373369999999 # Commanded vehicle depth:1774.476169 # Seafloor depth:-1829.113506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1819.896131 meters looking forward 100.000000 meters along route # Maximum depth: 1825.350636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.896131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704869; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1767.415901; finalDepth = 1769.896131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6373369999999 # Actual altitude: 54.6373369999999 # Commanded vehicle depth:1769.896131 # Seafloor depth:-1824.272097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1817.415901 meters looking forward 100.000000 meters along route # Maximum depth: 1820.256753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.415901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705247; longitude = -122.090045; captureRadius = 10; duration = 84; initialDepth = 1762.510707; finalDepth = 1767.415901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3759660000001 # Actual altitude: 54.3759660000001 # Commanded vehicle depth:1767.415901 # Seafloor depth:-1819.532036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.477679 meters # Minimum depth: 1812.510707 meters looking forward 100.000000 meters along route # Maximum depth: 1817.438774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.510707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705625; longitude = -122.089261; captureRadius = 10; duration = 84; initialDepth = 1761.645320; finalDepth = 1762.510707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.699298 # Actual altitude: 54.699298 # Commanded vehicle depth:1762.510707 # Seafloor depth:-1817.210005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 84.477679 meters # Minimum depth: 1811.645320 meters looking forward 100.000000 meters along route # Maximum depth: 1817.161275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.645320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.088473; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1759.939154; finalDepth = 1761.645320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.699298 # Actual altitude: 54.699298 # Commanded vehicle depth:1761.64532 # Seafloor depth:-1812.308228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 84.477679 meters # Minimum depth: 1809.939154 meters looking forward 100.000000 meters along route # Maximum depth: 1812.175770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.939154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705876; longitude = -122.088141; captureRadius = 10; duration = 84; initialDepth = 1757.991583; finalDepth = 1759.939154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9868270000002 # Actual altitude: 50.9868270000002 # Commanded vehicle depth:1759.939154 # Seafloor depth:-1810.925981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 84.477679 meters # Minimum depth: 1807.991583 meters looking forward 100.000000 meters along route # Maximum depth: 1811.273377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.991583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705575; longitude = -122.087357; captureRadius = 10; duration = 84; initialDepth = 1757.812683; finalDepth = 1757.991583; 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: 53.049008 # Actual altitude: 53.049008 # Commanded vehicle depth:1757.991583 # Seafloor depth:-1811.040591 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 84.477679 meters # Minimum depth: 1807.812683 meters looking forward 100.000000 meters along route # Maximum depth: 1811.957118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.812683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.086543; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1761.225268; finalDepth = 1757.812683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.049008 # Actual altitude: 53.049008 # Commanded vehicle depth:1757.812683 # Seafloor depth:-1807.812683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1811.225268 meters looking forward 100.000000 meters along route # Maximum depth: 1813.645664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.225268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705034; longitude = -122.087021; captureRadius = 10; duration = 84; initialDepth = 1763.542581; finalDepth = 1761.225268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7726300000002 # Actual altitude: 50.7726300000002 # Commanded vehicle depth:1761.225268 # Seafloor depth:-1811.997898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1813.542581 meters looking forward 100.000000 meters along route # Maximum depth: 1818.385363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.542581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704678; longitude = -122.087768; captureRadius = 10; duration = 84; initialDepth = 1767.948611; finalDepth = 1763.542581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7726300000002 # Actual altitude: 50.7726300000002 # Commanded vehicle depth:1763.542581 # Seafloor depth:-1813.961917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1817.948611 meters looking forward 100.000000 meters along route # Maximum depth: 1823.167672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.948611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704318; longitude = -122.088524; captureRadius = 10; duration = 84; initialDepth = 1772.994737; finalDepth = 1767.948611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6495379999999 # Actual altitude: 50.6495379999999 # Commanded vehicle depth:1767.948611 # Seafloor depth:-1818.598149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1822.994737 meters looking forward 100.000000 meters along route # Maximum depth: 1826.287300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.994737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703957; longitude = -122.089280; captureRadius = 10; duration = 84; initialDepth = 1775.212103; finalDepth = 1772.994737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6495379999999 # Actual altitude: 50.6495379999999 # Commanded vehicle depth:1772.994737 # Seafloor depth:-1823.169313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1825.212103 meters looking forward 100.000000 meters along route # Maximum depth: 1826.613929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.212103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703592; longitude = -122.090045; captureRadius = 10; duration = 84; initialDepth = 1776.270351; finalDepth = 1775.212103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.108297 # Actual altitude: 51.108297 # Commanded vehicle depth:1775.212103 # Seafloor depth:-1826.320400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1826.270351 meters looking forward 100.000000 meters along route # Maximum depth: 1834.833964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.270351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703236; longitude = -122.090793; captureRadius = 10; duration = 84; initialDepth = 1783.980848; finalDepth = 1776.270351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.108297 # Actual altitude: 51.108297 # Commanded vehicle depth:1776.270351 # Seafloor depth:-1826.987370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1833.980848 meters looking forward 100.000000 meters along route # Maximum depth: 1834.961285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.980848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702876; longitude = -122.091549; captureRadius = 10; duration = 84; initialDepth = 1783.980848; finalDepth = 1783.980848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9804370000002 # Actual altitude: 50.9804370000002 # Commanded vehicle depth:1783.980848 # Seafloor depth:-1834.961285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1833.980848 meters looking forward 100.000000 meters along route # Maximum depth: 1837.238397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.980848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.092305; captureRadius = 10; duration = 84; initialDepth = 1786.690369; finalDepth = 1783.980848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9804370000002 # Actual altitude: 50.9804370000002 # Commanded vehicle depth:1783.980848 # Seafloor depth:-1834.155570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1836.690369 meters looking forward 100.000000 meters along route # Maximum depth: 1841.642903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.690369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702150; longitude = -122.093070; captureRadius = 10; duration = 84; initialDepth = 1790.820005; finalDepth = 1786.690369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5835510000002 # Actual altitude: 50.5835510000002 # Commanded vehicle depth:1786.690369 # Seafloor depth:-1837.273920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1840.820005 meters looking forward 100.000000 meters along route # Maximum depth: 1842.837659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.820005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.093817; captureRadius = 10; duration = 84; initialDepth = 1791.838241; finalDepth = 1790.820005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.252107 # Actual altitude: 51.252107 # Commanded vehicle depth:1790.820005 # Seafloor depth:-1842.072112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1841.838241 meters looking forward 100.000000 meters along route # Maximum depth: 1847.286717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.838241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.094573; captureRadius = 10; duration = 84; initialDepth = 1796.294408; finalDepth = 1791.838241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.379316 # Actual altitude: 51.379316 # Commanded vehicle depth:1791.838241 # Seafloor depth:-1843.217557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1846.294408 meters looking forward 100.000000 meters along route # Maximum depth: 1850.425880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.294408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.095329; captureRadius = 10; duration = 84; initialDepth = 1798.626960; finalDepth = 1796.294408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.379316 # Actual altitude: 51.379316 # Commanded vehicle depth:1796.294408 # Seafloor depth:-1847.379115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1848.626960 meters looking forward 100.000000 meters along route # Maximum depth: 1850.700250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.626960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700708; longitude = -122.096095; captureRadius = 10; duration = 84; initialDepth = 1799.935080; finalDepth = 1798.626960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851866 # Actual altitude: 51.851866 # Commanded vehicle depth:1798.62696 # Seafloor depth:-1850.478826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1849.935080 meters looking forward 100.000000 meters along route # Maximum depth: 1854.459490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.935080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700352; longitude = -122.096841; captureRadius = 10; duration = 84; initialDepth = 1803.243865; finalDepth = 1799.935080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851866 # Actual altitude: 51.851866 # Commanded vehicle depth:1799.93508 # Seafloor depth:-1850.891698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1853.243865 meters looking forward 100.000000 meters along route # Maximum depth: 1856.901256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.243865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699992; longitude = -122.097598; captureRadius = 10; duration = 84; initialDepth = 1806.765433; finalDepth = 1803.243865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.493048 # Actual altitude: 51.493048 # Commanded vehicle depth:1803.243865 # Seafloor depth:-1854.736913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1856.765433 meters looking forward 100.000000 meters along route # Maximum depth: 1859.986180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.765433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.098354; captureRadius = 10; duration = 84; initialDepth = 1809.136965; finalDepth = 1806.765433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.493048 # Actual altitude: 51.493048 # Commanded vehicle depth:1806.765433 # Seafloor depth:-1856.905189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1859.136965 meters looking forward 100.000000 meters along route # Maximum depth: 1863.516759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.136965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699266; longitude = -122.099120; captureRadius = 10; duration = 84; initialDepth = 1812.820255; finalDepth = 1809.136965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8866890000002 # Actual altitude: 50.8866890000002 # Commanded vehicle depth:1809.136965 # Seafloor depth:-1860.023654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1862.820255 meters looking forward 100.000000 meters along route # Maximum depth: 1867.179812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.820255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698911; longitude = -122.099866; captureRadius = 10; duration = 84; initialDepth = 1816.761046; finalDepth = 1812.820255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2248379999999 # Actual altitude: 51.2248379999999 # Commanded vehicle depth:1812.820255 # Seafloor depth:-1864.045093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1866.761046 meters looking forward 100.000000 meters along route # Maximum depth: 1870.276447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.761046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.100622; captureRadius = 10; duration = 84; initialDepth = 1820.039073; finalDepth = 1816.761046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2248379999999 # Actual altitude: 51.2248379999999 # Commanded vehicle depth:1816.761046 # Seafloor depth:-1867.370509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1870.039073 meters looking forward 100.000000 meters along route # Maximum depth: 1873.692249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.039073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.101378; captureRadius = 10; duration = 84; initialDepth = 1822.607244; finalDepth = 1820.039073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.609463 # Actual altitude: 50.609463 # Commanded vehicle depth:1820.039073 # Seafloor depth:-1870.324273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1872.607244 meters looking forward 100.000000 meters along route # Maximum depth: 1875.986162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.607244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697824; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1825.938836; finalDepth = 1822.607244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1473080000001 # Actual altitude: 51.1473080000001 # Commanded vehicle depth:1822.607244 # Seafloor depth:-1873.754552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1875.938836 meters looking forward 100.000000 meters along route # Maximum depth: 1878.590383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.938836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.102890; captureRadius = 10; duration = 84; initialDepth = 1828.098753; finalDepth = 1825.938836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1473080000001 # Actual altitude: 51.1473080000001 # Commanded vehicle depth:1825.938836 # Seafloor depth:-1876.106238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1878.098753 meters looking forward 100.000000 meters along route # Maximum depth: 1880.110561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.098753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.103646; captureRadius = 10; duration = 84; initialDepth = 1829.424598; finalDepth = 1828.098753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.603359 # Actual altitude: 50.603359 # Commanded vehicle depth:1828.098753 # Seafloor depth:-1878.702112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1879.424598 meters looking forward 100.000000 meters along route # Maximum depth: 1883.451322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.424598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.104403; captureRadius = 10; duration = 84; initialDepth = 1832.690974; finalDepth = 1829.424598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.75341 # Actual altitude: 50.75341 # Commanded vehicle depth:1829.424598 # Seafloor depth:-1880.178008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1882.690974 meters looking forward 100.000000 meters along route # Maximum depth: 1885.206570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.690974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696382; longitude = -122.105169; captureRadius = 10; duration = 84; initialDepth = 1834.672365; finalDepth = 1832.690974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.795701 # Actual altitude: 50.795701 # Commanded vehicle depth:1832.690974 # Seafloor depth:-1883.486675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1884.672365 meters looking forward 100.000000 meters along route # Maximum depth: 1888.599750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.672365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.105915; captureRadius = 10; duration = 84; initialDepth = 1838.401428; finalDepth = 1834.672365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9469100000001 # Actual altitude: 50.9469100000001 # Commanded vehicle depth:1834.672365 # Seafloor depth:-1885.619275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1888.401428 meters looking forward 100.000000 meters along route # Maximum depth: 1890.872302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.401428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695666; longitude = -122.106671; captureRadius = 10; duration = 84; initialDepth = 1840.278910; finalDepth = 1838.401428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9469100000001 # Actual altitude: 50.9469100000001 # Commanded vehicle depth:1838.401428 # Seafloor depth:-1888.701106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1890.278910 meters looking forward 100.000000 meters along route # Maximum depth: 1891.796058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.278910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695306; longitude = -122.107427; captureRadius = 10; duration = 84; initialDepth = 1841.283676; finalDepth = 1840.278910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.647168 # Actual altitude: 50.647168 # Commanded vehicle depth:1840.27891 # Seafloor depth:-1890.926078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1891.283676 meters looking forward 100.000000 meters along route # Maximum depth: 1901.042615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.283676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694940; longitude = -122.108194; captureRadius = 10; duration = 84; initialDepth = 1850.011500; finalDepth = 1841.283676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.647168 # Actual altitude: 50.647168 # Commanded vehicle depth:1841.283676 # Seafloor depth:-1891.864080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1900.011500 meters looking forward 100.000000 meters along route # Maximum depth: 1906.278012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.011500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694567; longitude = -122.108978; captureRadius = 10; duration = 84; initialDepth = 1855.255690; finalDepth = 1850.011500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6360909999999 # Actual altitude: 51.6360909999999 # Commanded vehicle depth:1850.0115 # Seafloor depth:-1901.647591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1905.255690 meters looking forward 100.000000 meters along route # Maximum depth: 1906.282182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.255690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694193; longitude = -122.109762; captureRadius = 10; duration = 84; initialDepth = 1855.797254; finalDepth = 1855.255690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6360909999999 # Actual altitude: 51.6360909999999 # Commanded vehicle depth:1855.25569 # Seafloor depth:-1906.282182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1905.797254 meters looking forward 100.000000 meters along route # Maximum depth: 1908.399043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.797254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693819; longitude = -122.110547; captureRadius = 10; duration = 84; initialDepth = 1851.746436; finalDepth = 1855.797254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.026492 # Actual altitude: 51.026492 # Commanded vehicle depth:1855.797254 # Seafloor depth:-1906.298972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.477679 meters # Minimum depth: 1901.746436 meters looking forward 100.000000 meters along route # Maximum depth: 1911.949772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.746436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693445; longitude = -122.111331; captureRadius = 10; duration = 84; initialDepth = 1847.443543; finalDepth = 1851.746436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.852132 # Actual altitude: 57.852132 # Commanded vehicle depth:1851.746436 # Seafloor depth:-1909.598568 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 84.477679 meters # Minimum depth: 1897.443543 meters looking forward 100.000000 meters along route # Maximum depth: 1906.830655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.443543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693094; longitude = -122.112067; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1840.392503; finalDepth = 1847.443543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.852132 # Actual altitude: 57.852132 # Commanded vehicle depth:1847.443543 # Seafloor depth:-1898.624817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 84.477679 meters # Minimum depth: 1890.392503 meters looking forward 100.000000 meters along route # Maximum depth: 1901.299961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.392503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692422; longitude = -122.112019; captureRadius = 10; duration = 84; initialDepth = 1836.617715; finalDepth = 1840.392503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.897277 # Actual altitude: 59.897277 # Commanded vehicle depth:1840.392503 # Seafloor depth:-1900.289780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 84.477679 meters # Minimum depth: 1886.617715 meters looking forward 100.000000 meters along route # Maximum depth: 1894.093629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.617715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691701; longitude = -122.111968; captureRadius = 10; duration = 84; initialDepth = 1834.068909; finalDepth = 1836.617715; 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: 59.897277 # Actual altitude: 59.897277 # Commanded vehicle depth:1836.617715 # Seafloor depth:-1893.276131 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 84.477679 meters # Minimum depth: 1884.068909 meters looking forward 100.000000 meters along route # Maximum depth: 1909.519781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.068909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691016; longitude = -122.111919; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1848.770320; finalDepth = 1834.068909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.658416 # Actual altitude: 56.658416 # Commanded vehicle depth:1834.068909 # Seafloor depth:-1884.068909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1902.144548 meters looking forward 100.000000 meters along route # Maximum depth: 1919.798065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.770320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691251; longitude = -122.111454; captureRadius = 10; duration = 84; initialDepth = 1866.235257; finalDepth = 1848.770320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5524354000004 # Actual altitude: 65.5524354000004 # Commanded vehicle depth:1848.7703196 # Seafloor depth:-1914.322755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1916.235257 meters looking forward 100.000000 meters along route # Maximum depth: 1919.798065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.235257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691611; longitude = -122.110741; captureRadius = 10; duration = 84; initialDepth = 1864.940072; finalDepth = 1866.235257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5524354000004 # Actual altitude: 65.5524354000004 # Commanded vehicle depth:1866.235257 # Seafloor depth:-1918.950991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1914.940072 meters looking forward 100.000000 meters along route # Maximum depth: 1916.849828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.940072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691972; longitude = -122.110028; captureRadius = 10; duration = 84; initialDepth = 1862.312249; finalDepth = 1864.940072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7157339999999 # Actual altitude: 52.7157339999999 # Commanded vehicle depth:1864.940072 # Seafloor depth:-1916.582887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1912.312249 meters looking forward 100.000000 meters along route # Maximum depth: 1915.741899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.312249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692333; longitude = -122.109314; captureRadius = 10; duration = 84; initialDepth = 1860.016424; finalDepth = 1862.312249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6258799999998 # Actual altitude: 52.6258799999998 # Commanded vehicle depth:1862.312249 # Seafloor depth:-1914.938129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1910.016424 meters looking forward 100.000000 meters along route # Maximum depth: 1913.228250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.016424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692693; longitude = -122.108602; captureRadius = 10; duration = 84; initialDepth = 1853.169159; finalDepth = 1860.016424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6258799999998 # Actual altitude: 52.6258799999998 # Commanded vehicle depth:1860.016424 # Seafloor depth:-1912.078825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1903.169159 meters looking forward 100.000000 meters along route # Maximum depth: 1910.425848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.169159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693053; longitude = -122.107889; captureRadius = 10; duration = 84; initialDepth = 1848.253126; finalDepth = 1853.169159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.561295 # Actual altitude: 56.561295 # Commanded vehicle depth:1853.169159 # Seafloor depth:-1909.730454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1898.253126 meters looking forward 100.000000 meters along route # Maximum depth: 1906.112127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.253126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693414; longitude = -122.107176; captureRadius = 10; duration = 84; initialDepth = 1845.667047; finalDepth = 1848.253126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.561295 # Actual altitude: 56.561295 # Commanded vehicle depth:1848.253126 # Seafloor depth:-1903.018959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1895.667047 meters looking forward 100.000000 meters along route # Maximum depth: 1898.316598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.667047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.106463; captureRadius = 10; duration = 84; initialDepth = 1840.943396; finalDepth = 1845.667047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7658329999999 # Actual altitude: 54.7658329999999 # Commanded vehicle depth:1845.667047 # Seafloor depth:-1898.122003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1890.943396 meters looking forward 100.000000 meters along route # Maximum depth: 1896.152580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.943396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694135; longitude = -122.105750; captureRadius = 10; duration = 84; initialDepth = 1838.843434; finalDepth = 1840.943396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3012100000001 # Actual altitude: 54.3012100000001 # Commanded vehicle depth:1840.943396 # Seafloor depth:-1895.244606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1888.843434 meters looking forward 100.000000 meters along route # Maximum depth: 1891.515807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.843434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694495; longitude = -122.105036; captureRadius = 10; duration = 84; initialDepth = 1833.476564; finalDepth = 1838.843434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3012100000001 # Actual altitude: 54.3012100000001 # Commanded vehicle depth:1838.843434 # Seafloor depth:-1890.909011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1883.476564 meters looking forward 100.000000 meters along route # Maximum depth: 1890.050018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.476564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694855; longitude = -122.104323; captureRadius = 10; duration = 84; initialDepth = 1830.009788; finalDepth = 1833.476564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6119349999999 # Actual altitude: 54.6119349999999 # Commanded vehicle depth:1833.476564 # Seafloor depth:-1888.088499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1880.009788 meters looking forward 100.000000 meters along route # Maximum depth: 1883.750689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.009788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695216; longitude = -122.103610; captureRadius = 10; duration = 84; initialDepth = 1825.489484; finalDepth = 1830.009788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6119349999999 # Actual altitude: 54.6119349999999 # Commanded vehicle depth:1830.009788 # Seafloor depth:-1883.345957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1875.489484 meters looking forward 100.000000 meters along route # Maximum depth: 1881.083412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.489484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695576; longitude = -122.102897; captureRadius = 10; duration = 84; initialDepth = 1822.208062; finalDepth = 1825.489484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2762500000001 # Actual altitude: 54.2762500000001 # Commanded vehicle depth:1825.489484 # Seafloor depth:-1879.765734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1872.208062 meters looking forward 100.000000 meters along route # Maximum depth: 1876.041522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.208062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695937; longitude = -122.102184; captureRadius = 10; duration = 84; initialDepth = 1820.117457; finalDepth = 1822.208062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2762500000001 # Actual altitude: 54.2762500000001 # Commanded vehicle depth:1822.208062 # Seafloor depth:-1875.220362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1870.117457 meters looking forward 100.000000 meters along route # Maximum depth: 1873.482950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.117457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696297; longitude = -122.101471; captureRadius = 10; duration = 84; initialDepth = 1816.602620; finalDepth = 1820.117457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0123000000001 # Actual altitude: 53.0123000000001 # Commanded vehicle depth:1820.117457 # Seafloor depth:-1872.198942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1866.602620 meters looking forward 100.000000 meters along route # Maximum depth: 1870.193320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.602620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.100758; captureRadius = 10; duration = 84; initialDepth = 1813.199079; finalDepth = 1816.602620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5390960000002 # Actual altitude: 53.5390960000002 # Commanded vehicle depth:1816.60262 # Seafloor depth:-1870.141716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1863.199079 meters looking forward 100.000000 meters along route # Maximum depth: 1867.292808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.199079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.100045; captureRadius = 10; duration = 84; initialDepth = 1811.817027; finalDepth = 1813.199079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5390960000002 # Actual altitude: 53.5390960000002 # Commanded vehicle depth:1813.199079 # Seafloor depth:-1866.077984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1861.817027 meters looking forward 100.000000 meters along route # Maximum depth: 1863.975314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.817027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.099332; captureRadius = 10; duration = 84; initialDepth = 1810.227483; finalDepth = 1811.817027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.878905 # Actual altitude: 52.878905 # Commanded vehicle depth:1811.817027 # Seafloor depth:-1863.516436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1860.227483 meters looking forward 100.000000 meters along route # Maximum depth: 1862.524508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.227483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.098619; captureRadius = 10; duration = 84; initialDepth = 1806.444066; finalDepth = 1810.227483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6994090000001 # Actual altitude: 51.6994090000001 # Commanded vehicle depth:1810.227483 # Seafloor depth:-1861.530760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1856.444066 meters looking forward 100.000000 meters along route # Maximum depth: 1860.388889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.444066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698100; longitude = -122.097905; captureRadius = 10; duration = 84; initialDepth = 1803.625941; finalDepth = 1806.444066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4682700000001 # Actual altitude: 53.4682700000001 # Commanded vehicle depth:1806.444066 # Seafloor depth:-1859.912336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1853.625941 meters looking forward 100.000000 meters along route # Maximum depth: 1857.244940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.625941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.097192; captureRadius = 10; duration = 84; initialDepth = 1799.344837; finalDepth = 1803.625941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4682700000001 # Actual altitude: 53.4682700000001 # Commanded vehicle depth:1803.625941 # Seafloor depth:-1856.318940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1849.344837 meters looking forward 100.000000 meters along route # Maximum depth: 1854.121600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.344837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.096479; captureRadius = 10; duration = 84; initialDepth = 1795.946029; finalDepth = 1799.344837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.898387 # Actual altitude: 53.898387 # Commanded vehicle depth:1799.344837 # Seafloor depth:-1853.243224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1845.946029 meters looking forward 100.000000 meters along route # Maximum depth: 1849.712017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.946029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.095766; captureRadius = 10; duration = 84; initialDepth = 1792.257653; finalDepth = 1795.946029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.898387 # Actual altitude: 53.898387 # Commanded vehicle depth:1795.946029 # Seafloor depth:-1849.001883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1842.257653 meters looking forward 100.000000 meters along route # Maximum depth: 1846.421384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.257653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.095053; captureRadius = 10; duration = 84; initialDepth = 1791.160026; finalDepth = 1792.257653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0455410000002 # Actual altitude: 54.0455410000002 # Commanded vehicle depth:1792.257653 # Seafloor depth:-1846.303194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1841.160026 meters looking forward 100.000000 meters along route # Maximum depth: 1843.630997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.160026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.094340; captureRadius = 10; duration = 84; initialDepth = 1787.560951; finalDepth = 1791.160026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0455410000002 # Actual altitude: 54.0455410000002 # Commanded vehicle depth:1791.160026 # Seafloor depth:-1841.720311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1837.560951 meters looking forward 100.000000 meters along route # Maximum depth: 1843.630997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.560951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700262; longitude = -122.093627; captureRadius = 10; duration = 84; initialDepth = 1787.560951; finalDepth = 1787.560951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0438900000001 # Actual altitude: 56.0438900000001 # Commanded vehicle depth:1787.560951 # Seafloor depth:-1843.604841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1837.560951 meters looking forward 100.000000 meters along route # Maximum depth: 1839.995104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.560951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.092914; captureRadius = 10; duration = 84; initialDepth = 1783.694391; finalDepth = 1787.560951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0438900000001 # Actual altitude: 56.0438900000001 # Commanded vehicle depth:1787.560951 # Seafloor depth:-1838.205690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1833.694391 meters looking forward 100.000000 meters along route # Maximum depth: 1839.228079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.694391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.092201; captureRadius = 10; duration = 84; initialDepth = 1781.738850; finalDepth = 1783.694391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1259150000001 # Actual altitude: 53.1259150000001 # Commanded vehicle depth:1783.694391 # Seafloor depth:-1836.820306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1831.738850 meters looking forward 100.000000 meters along route # Maximum depth: 1833.743858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.738850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.091487; captureRadius = 10; duration = 84; initialDepth = 1779.553428; finalDepth = 1781.738850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1259150000001 # Actual altitude: 53.1259150000001 # Commanded vehicle depth:1781.73885 # Seafloor depth:-1833.685777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1829.553428 meters looking forward 100.000000 meters along route # Maximum depth: 1832.156585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.553428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.090774; captureRadius = 10; duration = 84; initialDepth = 1776.024156; finalDepth = 1779.553428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.029256 # Actual altitude: 52.029256 # Commanded vehicle depth:1779.553428 # Seafloor depth:-1831.582684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1826.024156 meters looking forward 100.000000 meters along route # Maximum depth: 1830.168708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.024156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.090061; captureRadius = 10; duration = 84; initialDepth = 1772.019235; finalDepth = 1776.024156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.159754 # Actual altitude: 53.159754 # Commanded vehicle depth:1776.024156 # Seafloor depth:-1829.183910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1822.019235 meters looking forward 100.000000 meters along route # Maximum depth: 1827.060400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.019235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.089348; captureRadius = 10; duration = 84; initialDepth = 1770.475040; finalDepth = 1772.019235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6973720000001 # Actual altitude: 53.6973720000001 # Commanded vehicle depth:1772.019235 # Seafloor depth:-1825.716607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1820.475040 meters looking forward 100.000000 meters along route # Maximum depth: 1822.263862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.475040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702786; longitude = -122.088635; captureRadius = 10; duration = 84; initialDepth = 1768.212990; finalDepth = 1770.475040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6973720000001 # Actual altitude: 53.6973720000001 # Commanded vehicle depth:1770.47504 # Seafloor depth:-1822.241551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1818.212990 meters looking forward 100.000000 meters along route # Maximum depth: 1820.817005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.212990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.087922; captureRadius = 10; duration = 84; initialDepth = 1763.471539; finalDepth = 1768.212990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0176490000001 # Actual altitude: 52.0176490000001 # Commanded vehicle depth:1768.21299 # Seafloor depth:-1820.230639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1813.471539 meters looking forward 100.000000 meters along route # Maximum depth: 1819.209519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.471539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.087209; captureRadius = 10; duration = 84; initialDepth = 1761.103920; finalDepth = 1763.471539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4257980000002 # Actual altitude: 54.4257980000002 # Commanded vehicle depth:1763.471539 # Seafloor depth:-1817.897337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1811.103920 meters looking forward 100.000000 meters along route # Maximum depth: 1813.649985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.103920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703885; longitude = -122.086460; captureRadius = 10; duration = 84; initialDepth = 1757.265948; finalDepth = 1761.103920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4257980000002 # Actual altitude: 54.4257980000002 # Commanded vehicle depth:1761.10392 # Seafloor depth:-1813.383994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.477679 meters # Minimum depth: 1807.265948 meters looking forward 100.000000 meters along route # Maximum depth: 1811.136867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.265948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704281; longitude = -122.085676; captureRadius = 10; duration = 84; initialDepth = 1756.627441; finalDepth = 1757.265948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.197463 # Actual altitude: 53.197463 # Commanded vehicle depth:1757.265948 # Seafloor depth:-1810.463411 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 84.477679 meters # Minimum depth: 1806.627441 meters looking forward 100.000000 meters along route # Maximum depth: 1809.471840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.627441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.084911; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1749.815694; finalDepth = 1756.627441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.197463 # Actual altitude: 53.197463 # Commanded vehicle depth:1756.627441 # Seafloor depth:-1807.039093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 84.477679 meters # Minimum depth: 1799.815694 meters looking forward 100.000000 meters along route # Maximum depth: 1806.708203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.815694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704531; longitude = -122.084556; captureRadius = 10; duration = 84; initialDepth = 1747.541130; finalDepth = 1749.815694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4253950000002 # Actual altitude: 56.4253950000002 # Commanded vehicle depth:1749.815694 # Seafloor depth:-1806.241089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 84.477679 meters # Minimum depth: 1797.541130 meters looking forward 100.000000 meters along route # Maximum depth: 1800.445365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.541130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.083766; captureRadius = 10; duration = 84; initialDepth = 1747.356781; finalDepth = 1747.541130; 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: 56.4253950000002 # Actual altitude: 56.4253950000002 # Commanded vehicle depth:1747.54113 # Seafloor depth:-1799.783923 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 84.477679 meters # Minimum depth: 1797.356781 meters looking forward 100.000000 meters along route # Maximum depth: 1800.339232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.356781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703926; longitude = -122.082982; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1748.795385; finalDepth = 1747.356781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2427929999999 # Actual altitude: 52.2427929999999 # Commanded vehicle depth:1747.356781 # Seafloor depth:-1797.356781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1798.795385 meters looking forward 100.000000 meters along route # Maximum depth: 1804.981541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.795385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.083280; captureRadius = 10; duration = 84; initialDepth = 1752.981853; finalDepth = 1748.795385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.395937 # Actual altitude: 52.395937 # Commanded vehicle depth:1748.795385 # Seafloor depth:-1801.191322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1802.981853 meters looking forward 100.000000 meters along route # Maximum depth: 1808.890178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.981853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.084001; captureRadius = 10; duration = 84; initialDepth = 1757.933014; finalDepth = 1752.981853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.395937 # Actual altitude: 52.395937 # Commanded vehicle depth:1752.981853 # Seafloor depth:-1805.056754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1807.933014 meters looking forward 100.000000 meters along route # Maximum depth: 1814.379060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.933014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.084722; captureRadius = 10; duration = 84; initialDepth = 1762.594161; finalDepth = 1757.933014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.074901 # Actual altitude: 52.074901 # Commanded vehicle depth:1757.933014 # Seafloor depth:-1809.400068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1812.594161 meters looking forward 100.000000 meters along route # Maximum depth: 1817.667772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.594161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.085443; captureRadius = 10; duration = 84; initialDepth = 1766.233851; finalDepth = 1762.594161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6691129999999 # Actual altitude: 53.6691129999999 # Commanded vehicle depth:1762.594161 # Seafloor depth:-1816.263274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1816.233851 meters looking forward 100.000000 meters along route # Maximum depth: 1823.461235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.233851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.086164; captureRadius = 10; duration = 84; initialDepth = 1772.861867; finalDepth = 1766.233851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6691129999999 # Actual altitude: 53.6691129999999 # Commanded vehicle depth:1766.233851 # Seafloor depth:-1816.530930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1822.861867 meters looking forward 100.000000 meters along route # Maximum depth: 1824.729136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.861867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701975; longitude = -122.086885; captureRadius = 10; duration = 84; initialDepth = 1773.980233; finalDepth = 1772.861867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9849869999998 # Actual altitude: 50.9849869999998 # Commanded vehicle depth:1772.861867 # Seafloor depth:-1823.846854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1823.980233 meters looking forward 100.000000 meters along route # Maximum depth: 1824.729136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.980233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701614; longitude = -122.087606; captureRadius = 10; duration = 84; initialDepth = 1773.980233; finalDepth = 1773.980233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9849869999998 # Actual altitude: 50.9849869999998 # Commanded vehicle depth:1773.980233 # Seafloor depth:-1824.675674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1823.980233 meters looking forward 100.000000 meters along route # Maximum depth: 1829.082549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.980233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.088327; captureRadius = 10; duration = 84; initialDepth = 1777.456884; finalDepth = 1773.980233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6954410000001 # Actual altitude: 50.6954410000001 # Commanded vehicle depth:1773.980233 # Seafloor depth:-1824.241476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1827.456884 meters looking forward 100.000000 meters along route # Maximum depth: 1831.111343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.456884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700893; longitude = -122.089047; captureRadius = 10; duration = 84; initialDepth = 1780.964361; finalDepth = 1777.456884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7125680000001 # Actual altitude: 51.7125680000001 # Commanded vehicle depth:1777.456884 # Seafloor depth:-1829.169452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1830.964361 meters looking forward 100.000000 meters along route # Maximum depth: 1832.224986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.964361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700533; longitude = -122.089768; captureRadius = 10; duration = 84; initialDepth = 1782.073964; finalDepth = 1780.964361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7125680000001 # Actual altitude: 51.7125680000001 # Commanded vehicle depth:1780.964361 # Seafloor depth:-1831.211551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1832.073964 meters looking forward 100.000000 meters along route # Maximum depth: 1833.106359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.073964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700170; longitude = -122.090493; captureRadius = 10; duration = 84; initialDepth = 1783.019555; finalDepth = 1782.073964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24719 # Actual altitude: 50.24719 # Commanded vehicle depth:1782.073964 # Seafloor depth:-1832.073964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1833.019555 meters looking forward 100.000000 meters along route # Maximum depth: 1835.016957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.019555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699812; longitude = -122.091210; captureRadius = 10; duration = 84; initialDepth = 1784.291914; finalDepth = 1783.019555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.041129 # Actual altitude: 50.041129 # Commanded vehicle depth:1783.019555 # Seafloor depth:-1833.060684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1834.291914 meters looking forward 100.000000 meters along route # Maximum depth: 1838.921656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.291914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699451; longitude = -122.091931; captureRadius = 10; duration = 84; initialDepth = 1788.417751; finalDepth = 1784.291914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4358130000001 # Actual altitude: 51.4358130000001 # Commanded vehicle depth:1784.291914 # Seafloor depth:-1835.727727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1838.417751 meters looking forward 100.000000 meters along route # Maximum depth: 1839.800571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.417751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.092652; captureRadius = 10; duration = 84; initialDepth = 1789.247085; finalDepth = 1788.417751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4358130000001 # Actual altitude: 51.4358130000001 # Commanded vehicle depth:1788.417751 # Seafloor depth:-1838.981025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1839.247085 meters looking forward 100.000000 meters along route # Maximum depth: 1843.208025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.247085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.093373; captureRadius = 10; duration = 84; initialDepth = 1792.086387; finalDepth = 1789.247085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9006420000001 # Actual altitude: 50.9006420000001 # Commanded vehicle depth:1789.247085 # Seafloor depth:-1840.147727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1842.086387 meters looking forward 100.000000 meters along route # Maximum depth: 1846.047176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.086387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.094094; captureRadius = 10; duration = 84; initialDepth = 1795.935408; finalDepth = 1792.086387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.267184 # Actual altitude: 51.267184 # Commanded vehicle depth:1792.086387 # Seafloor depth:-1843.353571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1845.935408 meters looking forward 100.000000 meters along route # Maximum depth: 1848.925259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.935408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.094815; captureRadius = 10; duration = 84; initialDepth = 1796.156477; finalDepth = 1795.935408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.267184 # Actual altitude: 51.267184 # Commanded vehicle depth:1795.935408 # Seafloor depth:-1846.195202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1846.156477 meters looking forward 100.000000 meters along route # Maximum depth: 1855.391102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.156477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.095536; captureRadius = 10; duration = 84; initialDepth = 1804.229314; finalDepth = 1796.156477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7818830000001 # Actual altitude: 52.7818830000001 # Commanded vehicle depth:1796.156477 # Seafloor depth:-1848.938360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1854.229314 meters looking forward 100.000000 meters along route # Maximum depth: 1856.503168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.229314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.096256; captureRadius = 10; duration = 84; initialDepth = 1805.429480; finalDepth = 1804.229314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7818830000001 # Actual altitude: 52.7818830000001 # Commanded vehicle depth:1804.229314 # Seafloor depth:-1854.947428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1855.429480 meters looking forward 100.000000 meters along route # Maximum depth: 1859.453958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.429480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.096977; captureRadius = 10; duration = 84; initialDepth = 1807.706811; finalDepth = 1805.429480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8419019999999 # Actual altitude: 51.8419019999999 # Commanded vehicle depth:1805.42948 # Seafloor depth:-1857.271382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1857.706811 meters looking forward 100.000000 meters along route # Maximum depth: 1859.581743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.706811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.097698; captureRadius = 10; duration = 84; initialDepth = 1807.706811; finalDepth = 1807.706811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8419019999999 # Actual altitude: 51.8419019999999 # Commanded vehicle depth:1807.706811 # Seafloor depth:-1859.505773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1857.706811 meters looking forward 100.000000 meters along route # Maximum depth: 1860.497808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.706811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.098419; captureRadius = 10; duration = 84; initialDepth = 1809.080210; finalDepth = 1807.706811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7989620000001 # Actual altitude: 51.7989620000001 # Commanded vehicle depth:1807.706811 # Seafloor depth:-1858.168994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1859.080210 meters looking forward 100.000000 meters along route # Maximum depth: 1860.497808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.080210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.099140; captureRadius = 10; duration = 84; initialDepth = 1809.080210; finalDepth = 1809.080210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411355 # Actual altitude: 51.411355 # Commanded vehicle depth:1809.08021 # Seafloor depth:-1860.491565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1859.080210 meters looking forward 100.000000 meters along route # Maximum depth: 1862.667927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.080210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695486; longitude = -122.099861; captureRadius = 10; duration = 84; initialDepth = 1811.406913; finalDepth = 1809.080210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411355 # Actual altitude: 51.411355 # Commanded vehicle depth:1809.08021 # Seafloor depth:-1859.206911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1861.406913 meters looking forward 100.000000 meters along route # Maximum depth: 1864.397278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.406913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.100582; captureRadius = 10; duration = 84; initialDepth = 1814.325603; finalDepth = 1811.406913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.302811 # Actual altitude: 51.302811 # Commanded vehicle depth:1811.406913 # Seafloor depth:-1862.709724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1864.325603 meters looking forward 100.000000 meters along route # Maximum depth: 1866.599588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.325603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.101303; captureRadius = 10; duration = 84; initialDepth = 1816.263289; finalDepth = 1814.325603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.302811 # Actual altitude: 51.302811 # Commanded vehicle depth:1814.325603 # Seafloor depth:-1864.536923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1866.263289 meters looking forward 100.000000 meters along route # Maximum depth: 1871.467296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.263289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694405; longitude = -122.102024; captureRadius = 10; duration = 84; initialDepth = 1820.432253; finalDepth = 1816.263289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.638876 # Actual altitude: 50.638876 # Commanded vehicle depth:1816.263289 # Seafloor depth:-1866.902165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1870.432253 meters looking forward 100.000000 meters along route # Maximum depth: 1873.117135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.432253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694044; longitude = -122.102745; captureRadius = 10; duration = 84; initialDepth = 1822.823418; finalDepth = 1820.432253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2649160000001 # Actual altitude: 51.2649160000001 # Commanded vehicle depth:1820.432253 # Seafloor depth:-1871.697169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1872.823418 meters looking forward 100.000000 meters along route # Maximum depth: 1879.092152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.823418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693684; longitude = -122.103465; captureRadius = 10; duration = 84; initialDepth = 1827.876013; finalDepth = 1822.823418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2649160000001 # Actual altitude: 51.2649160000001 # Commanded vehicle depth:1822.823418 # Seafloor depth:-1873.470203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1877.876013 meters looking forward 100.000000 meters along route # Maximum depth: 1886.510534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.876013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693323; longitude = -122.104186; captureRadius = 10; duration = 84; initialDepth = 1835.814049; finalDepth = 1827.876013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4638239999999 # Actual altitude: 51.4638239999999 # Commanded vehicle depth:1827.876013 # Seafloor depth:-1879.339837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1885.814049 meters looking forward 100.000000 meters along route # Maximum depth: 1897.506273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.814049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692963; longitude = -122.104907; captureRadius = 10; duration = 84; initialDepth = 1843.986592; finalDepth = 1835.814049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4638239999999 # Actual altitude: 51.4638239999999 # Commanded vehicle depth:1835.814049 # Seafloor depth:-1886.914981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1893.986592 meters looking forward 100.000000 meters along route # Maximum depth: 1904.772859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.986592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692603; longitude = -122.105628; captureRadius = 10; duration = 84; initialDepth = 1854.504107; finalDepth = 1843.986592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7276979999999 # Actual altitude: 53.7276979999999 # Commanded vehicle depth:1843.986592 # Seafloor depth:-1897.714290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1904.504107 meters looking forward 100.000000 meters along route # Maximum depth: 1909.366467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.504107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692242; longitude = -122.106349; captureRadius = 10; duration = 84; initialDepth = 1858.334229; finalDepth = 1854.504107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7276979999999 # Actual altitude: 53.7276979999999 # Commanded vehicle depth:1854.504107 # Seafloor depth:-1904.808985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1908.334229 meters looking forward 100.000000 meters along route # Maximum depth: 1910.988061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.334229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691880; longitude = -122.107074; captureRadius = 10; duration = 84; initialDepth = 1860.760620; finalDepth = 1858.334229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0483159999999 # Actual altitude: 51.0483159999999 # Commanded vehicle depth:1858.334229 # Seafloor depth:-1909.382545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1910.760620 meters looking forward 100.000000 meters along route # Maximum depth: 1915.744209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.760620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691521; longitude = -122.107791; captureRadius = 10; duration = 84; initialDepth = 1864.548215; finalDepth = 1860.760620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0483159999999 # Actual altitude: 51.0483159999999 # Commanded vehicle depth:1860.76062 # Seafloor depth:-1911.088568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1914.548215 meters looking forward 100.000000 meters along route # Maximum depth: 1920.878307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.548215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691161; longitude = -122.108512; captureRadius = 10; duration = 84; initialDepth = 1869.854481; finalDepth = 1864.548215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0720229999999 # Actual altitude: 52.0720229999999 # Commanded vehicle depth:1864.548215 # Seafloor depth:-1916.620238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1919.854481 meters looking forward 100.000000 meters along route # Maximum depth: 1924.282135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.854481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690800; longitude = -122.109233; captureRadius = 10; duration = 84; initialDepth = 1870.677162; finalDepth = 1869.854481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0720229999999 # Actual altitude: 52.0720229999999 # Commanded vehicle depth:1869.854481 # Seafloor depth:-1921.153166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1920.677162 meters looking forward 100.000000 meters along route # Maximum depth: 1925.543677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.677162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690440; longitude = -122.109953; captureRadius = 10; duration = 84; initialDepth = 1842.408526; finalDepth = 1870.677162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.046341 # Actual altitude: 54.046341 # Commanded vehicle depth:1870.677162 # Seafloor depth:-1924.723503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.477679 meters # Minimum depth: 1892.408526 meters looking forward 100.000000 meters along route # Maximum depth: 1922.897291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.408526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690079; longitude = -122.110674; captureRadius = 10; duration = 84; initialDepth = 1841.633179; finalDepth = 1842.408526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.831819 # Actual altitude: 77.831819 # Commanded vehicle depth:1842.408526 # Seafloor depth:-1920.240345 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 311.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 84.477679 meters # Minimum depth: 1891.633179 meters looking forward 100.000000 meters along route # Maximum depth: 1920.677162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.633179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689680; longitude = -122.111473; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1841.633179; finalDepth = 1841.633179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.831819 # Actual altitude: 77.831819 # Commanded vehicle depth:1841.633179 # Seafloor depth:-1891.633179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 311.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 84.477679 meters # Minimum depth: 1891.633179 meters looking forward 100.000000 meters along route # Maximum depth: 1904.944560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.633179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689629; longitude = -122.111439; captureRadius = 10; duration = 84; initialDepth = 1852.001307; finalDepth = 1841.633179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3357620000002 # Actual altitude: 52.3357620000002 # Commanded vehicle depth:1841.633179 # Seafloor depth:-1893.968941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 84.477679 meters # Minimum depth: 1902.001307 meters looking forward 100.000000 meters along route # Maximum depth: 1919.106157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.001307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688963; longitude = -122.110995; captureRadius = 10; duration = 84; initialDepth = 1857.465295; finalDepth = 1852.001307; 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: 53.8938800000001 # Actual altitude: 53.8938800000001 # Commanded vehicle depth:1852.001307 # Seafloor depth:-1905.895187 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 84.477679 meters # Minimum depth: 1907.465295 meters looking forward 100.000000 meters along route # Maximum depth: 1926.563954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.465295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688345; longitude = -122.110583; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1865.873411; finalDepth = 1857.465295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9388490000001 # Actual altitude: 60.9388490000001 # Commanded vehicle depth:1857.465295 # Seafloor depth:-1918.404144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1925.344869 meters looking forward 100.000000 meters along route # Maximum depth: 1930.793797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.873411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688486; longitude = -122.110323; captureRadius = 10; duration = 84; initialDepth = 1880.400180; finalDepth = 1865.873411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5263005000004 # Actual altitude: 61.5263005000004 # Commanded vehicle depth:1865.8734115 # Seafloor depth:-1927.399712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 246.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1930.400180 meters looking forward 100.000000 meters along route # Maximum depth: 1933.081007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.400180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688910; longitude = -122.109538; captureRadius = 10; duration = 84; initialDepth = 1826.340102; finalDepth = 1880.400180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5263005000004 # Actual altitude: 61.5263005000004 # Commanded vehicle depth:1880.40018 # Seafloor depth:-1930.804497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 246.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1876.340102 meters looking forward 100.000000 meters along route # Maximum depth: 1931.149797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.340102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689334; longitude = -122.108754; captureRadius = 10; duration = 84; initialDepth = 1826.340102; finalDepth = 1826.340102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.987964 # Actual altitude: 100 # Commanded vehicle depth:1826.340102 # Seafloor depth:-1927.328066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1876.340102 meters looking forward 100.000000 meters along route # Maximum depth: 1916.579003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.340102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689719; longitude = -122.108043; captureRadius = 10; duration = 84; initialDepth = 1850.392402; finalDepth = 1826.340102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.987964 # Actual altitude: 100 # Commanded vehicle depth:1826.340102 # Seafloor depth:-1876.494922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1916.291497 meters looking forward 100.000000 meters along route # Maximum depth: 1918.334862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.392402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690122; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1863.217992; finalDepth = 1850.392402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8064995000002 # Actual altitude: 66.8064995000002 # Commanded vehicle depth:1850.3924025 # Seafloor depth:-1917.198902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 267.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1913.217992 meters looking forward 100.000000 meters along route # Maximum depth: 1918.334862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.217992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690530; longitude = -122.106543; captureRadius = 10; duration = 84; initialDepth = 1851.989909; finalDepth = 1863.217992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8064995000002 # Actual altitude: 66.8064995000002 # Commanded vehicle depth:1863.217992 # Seafloor depth:-1917.961078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 267.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1901.989909 meters looking forward 100.000000 meters along route # Maximum depth: 1913.857914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.989909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690909; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1838.745204; finalDepth = 1851.989909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.954825 # Actual altitude: 60.954825 # Commanded vehicle depth:1851.989909 # Seafloor depth:-1912.944734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1888.745204 meters looking forward 100.000000 meters along route # Maximum depth: 1904.121600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.745204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691341; longitude = -122.105044; captureRadius = 10; duration = 84; initialDepth = 1829.691491; finalDepth = 1838.745204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.985516 # Actual altitude: 62.985516 # Commanded vehicle depth:1838.745204 # Seafloor depth:-1901.730720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1879.691491 meters looking forward 100.000000 meters along route # Maximum depth: 1888.853645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.691491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691758; longitude = -122.104273; captureRadius = 10; duration = 84; initialDepth = 1818.817882; finalDepth = 1829.691491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.985516 # Actual altitude: 62.985516 # Commanded vehicle depth:1829.691491 # Seafloor depth:-1887.323728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1868.817882 meters looking forward 100.000000 meters along route # Maximum depth: 1881.452950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.817882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692152; longitude = -122.103544; captureRadius = 10; duration = 84; initialDepth = 1805.805810; finalDepth = 1818.817882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.9549139999999 # Actual altitude: 59.9549139999999 # Commanded vehicle depth:1818.817882 # Seafloor depth:-1878.772796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 239.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1855.805810 meters looking forward 100.000000 meters along route # Maximum depth: 1869.517940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.805810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692545; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1798.688503; finalDepth = 1805.805810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1905869999998 # Actual altitude: 62.1905869999998 # Commanded vehicle depth:1805.80581 # Seafloor depth:-1867.996397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1848.688503 meters looking forward 100.000000 meters along route # Maximum depth: 1857.168752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.688503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692970; longitude = -122.102032; captureRadius = 10; duration = 84; initialDepth = 1794.644295; finalDepth = 1798.688503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1905869999998 # Actual altitude: 62.1905869999998 # Commanded vehicle depth:1798.688503 # Seafloor depth:-1855.659403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1844.644295 meters looking forward 100.000000 meters along route # Maximum depth: 1849.557413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.644295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693394; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1792.160842; finalDepth = 1794.644295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9709 # Actual altitude: 56.9709 # Commanded vehicle depth:1794.644295 # Seafloor depth:-1848.047825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1842.160842 meters looking forward 100.000000 meters along route # Maximum depth: 1845.557002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.160842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.100545; captureRadius = 10; duration = 84; initialDepth = 1789.212707; finalDepth = 1792.160842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.40353 # Actual altitude: 53.40353 # Commanded vehicle depth:1792.160842 # Seafloor depth:-1844.487514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1839.212707 meters looking forward 100.000000 meters along route # Maximum depth: 1842.321046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.212707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694181; longitude = -122.099792; captureRadius = 10; duration = 84; initialDepth = 1787.055250; finalDepth = 1789.212707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.576916 # Actual altitude: 52.576916 # Commanded vehicle depth:1789.212707 # Seafloor depth:-1841.789623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1837.055250 meters looking forward 100.000000 meters along route # Maximum depth: 1839.585691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.055250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694585; longitude = -122.099045; captureRadius = 10; duration = 84; initialDepth = 1787.743828; finalDepth = 1787.055250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.576916 # Actual altitude: 52.576916 # Commanded vehicle depth:1787.05525 # Seafloor depth:-1838.869228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1837.743828 meters looking forward 100.000000 meters along route # Maximum depth: 1842.671560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.743828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694969; longitude = -122.098335; captureRadius = 10; duration = 84; initialDepth = 1792.041793; finalDepth = 1787.743828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8139780000001 # Actual altitude: 51.8139780000001 # Commanded vehicle depth:1787.743828 # Seafloor depth:-1838.312100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1842.041793 meters looking forward 100.000000 meters along route # Maximum depth: 1847.851935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.041793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.097546; captureRadius = 10; duration = 84; initialDepth = 1797.850221; finalDepth = 1792.041793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6751529999999 # Actual altitude: 50.6751529999999 # Commanded vehicle depth:1792.041793 # Seafloor depth:-1842.716946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.477679 meters # Minimum depth: 1847.850221 meters looking forward 100.000000 meters along route # Maximum depth: 1850.224014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.850221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695817; longitude = -122.096767; captureRadius = 10; duration = 84; initialDepth = 1797.088642; finalDepth = 1797.850221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8591880000001 # Actual altitude: 50.8591880000001 # Commanded vehicle depth:1797.850221 # Seafloor depth:-1848.709409 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 84.477679 meters # Minimum depth: 1847.088642 meters looking forward 100.000000 meters along route # Maximum depth: 1850.224014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.088642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696210; longitude = -122.096041; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1783.718724; finalDepth = 1797.088642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0720940000001 # Actual altitude: 51.0720940000001 # Commanded vehicle depth:1797.088642 # Seafloor depth:-1848.160736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.477679 meters # Minimum depth: 1833.718724 meters looking forward 100.000000 meters along route # Maximum depth: 1847.088642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.718724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695937; longitude = -122.096083; captureRadius = 10; duration = 84; initialDepth = 1763.055515; finalDepth = 1783.718724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.690149 # Actual altitude: 62.690149 # Commanded vehicle depth:1783.718724 # Seafloor depth:-1846.408873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 250.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.477679 meters # Minimum depth: 1813.055515 meters looking forward 100.000000 meters along route # Maximum depth: 1833.718724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.055515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695216; longitude = -122.096195; captureRadius = 10; duration = 84; initialDepth = 1743.657690; finalDepth = 1763.055515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5776880000001 # Actual altitude: 68.5776880000001 # Commanded vehicle depth:1763.055515 # Seafloor depth:-1831.633203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.477679 meters # Minimum depth: 1793.657690 meters looking forward 100.000000 meters along route # Maximum depth: 1813.055515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.657690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694495; longitude = -122.096307; captureRadius = 10; duration = 84; initialDepth = 1734.715431; finalDepth = 1743.657690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5776880000001 # Actual altitude: 68.5776880000001 # Commanded vehicle depth:1743.65769 # Seafloor depth:-1809.214045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.477679 meters # Minimum depth: 1784.715431 meters looking forward 100.000000 meters along route # Maximum depth: 1793.657690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.715431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.096419; captureRadius = 10; duration = 84; initialDepth = 1734.715431; finalDepth = 1734.715431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5563549999999 # Actual altitude: 65.5563549999999 # Commanded vehicle depth:1734.715431 # Seafloor depth:-1791.889799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.477679 meters # Minimum depth: 1784.715431 meters looking forward 100.000000 meters along route # Maximum depth: 1803.352154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.715431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693053; longitude = -122.096530; captureRadius = 10; duration = 84; initialDepth = 1735.946549; finalDepth = 1734.715431; 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: 57.174368 # Actual altitude: 57.174368 # Commanded vehicle depth:1734.715431 # Seafloor depth:-1785.122610 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 84.477679 meters # Minimum depth: 1785.946549 meters looking forward 100.000000 meters along route # Maximum depth: 1805.022452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.946549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692353; longitude = -122.096639; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1742.501035; finalDepth = 1735.946549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2265159999999 # Actual altitude: 68.2265159999999 # Commanded vehicle depth:1735.946549 # Seafloor depth:-1804.173065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 272.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1795.735284 meters looking forward 100.000000 meters along route # Maximum depth: 1805.022452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.501035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692521; longitude = -122.096767; captureRadius = 10; duration = 84; initialDepth = 1745.674887; finalDepth = 1742.501035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2265159999999 # Actual altitude: 68.2265159999999 # Commanded vehicle depth:1742.5010354 # Seafloor depth:-1802.349462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 272.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1795.674887 meters looking forward 100.000000 meters along route # Maximum depth: 1802.855228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.674887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693108; longitude = -122.097215; captureRadius = 10; duration = 84; initialDepth = 1749.549439; finalDepth = 1745.674887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8484265999996 # Actual altitude: 59.8484265999996 # Commanded vehicle depth:1745.674887 # Seafloor depth:-1795.676553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 239.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1799.549439 meters looking forward 100.000000 meters along route # Maximum depth: 1816.929873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.549439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693695; longitude = -122.097663; captureRadius = 10; duration = 84; initialDepth = 1765.039295; finalDepth = 1749.549439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6856260000002 # Actual altitude: 53.6856260000002 # Commanded vehicle depth:1749.549439 # Seafloor depth:-1803.235065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1815.039295 meters looking forward 100.000000 meters along route # Maximum depth: 1837.358778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.039295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694282; longitude = -122.098111; captureRadius = 10; duration = 84; initialDepth = 1782.880517; finalDepth = 1765.039295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6856260000002 # Actual altitude: 53.6856260000002 # Commanded vehicle depth:1765.039295 # Seafloor depth:-1818.391535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1832.880517 meters looking forward 100.000000 meters along route # Maximum depth: 1853.296461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.880517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694870; longitude = -122.098560; captureRadius = 10; duration = 84; initialDepth = 1800.581478; finalDepth = 1782.880517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.919296 # Actual altitude: 54.919296 # Commanded vehicle depth:1782.880517 # Seafloor depth:-1837.799813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1850.581478 meters looking forward 100.000000 meters along route # Maximum depth: 1861.208511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.581478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695457; longitude = -122.099008; captureRadius = 10; duration = 84; initialDepth = 1810.576718; finalDepth = 1800.581478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.919296 # Actual altitude: 54.919296 # Commanded vehicle depth:1800.581478 # Seafloor depth:-1855.065744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1860.576718 meters looking forward 100.000000 meters along route # Maximum depth: 1863.500449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.576718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696044; longitude = -122.099456; captureRadius = 10; duration = 84; initialDepth = 1813.311401; finalDepth = 1810.576718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4842659999999 # Actual altitude: 54.4842659999999 # Commanded vehicle depth:1810.576718 # Seafloor depth:-1861.311561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1863.311401 meters looking forward 100.000000 meters along route # Maximum depth: 1868.575281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.311401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696631; longitude = -122.099904; captureRadius = 10; duration = 84; initialDepth = 1817.547316; finalDepth = 1813.311401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.734843 # Actual altitude: 50.734843 # Commanded vehicle depth:1813.311401 # Seafloor depth:-1863.996339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1867.547316 meters looking forward 100.000000 meters along route # Maximum depth: 1869.681554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.547316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697219; longitude = -122.100352; captureRadius = 10; duration = 84; initialDepth = 1818.970539; finalDepth = 1817.547316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.197494 # Actual altitude: 51.197494 # Commanded vehicle depth:1817.547316 # Seafloor depth:-1868.744810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1868.970539 meters looking forward 100.000000 meters along route # Maximum depth: 1870.194902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.970539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697806; longitude = -122.100800; captureRadius = 10; duration = 84; initialDepth = 1817.239443; finalDepth = 1818.970539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.197494 # Actual altitude: 51.197494 # Commanded vehicle depth:1818.970539 # Seafloor depth:-1869.058674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1867.239443 meters looking forward 100.000000 meters along route # Maximum depth: 1870.306068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.239443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698393; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1817.183636; finalDepth = 1817.239443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9952350000001 # Actual altitude: 52.9952350000001 # Commanded vehicle depth:1817.239443 # Seafloor depth:-1870.234678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1867.183636 meters looking forward 100.000000 meters along route # Maximum depth: 1868.830322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.183636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698980; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1818.031150; finalDepth = 1817.183636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9952350000001 # Actual altitude: 52.9952350000001 # Commanded vehicle depth:1817.183636 # Seafloor depth:-1867.183636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1868.031150 meters looking forward 100.000000 meters along route # Maximum depth: 1869.042155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.031150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699568; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1815.629056; finalDepth = 1818.031150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4200599999999 # Actual altitude: 50.4200599999999 # Commanded vehicle depth:1818.03115 # Seafloor depth:-1868.451210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1865.629056 meters looking forward 100.000000 meters along route # Maximum depth: 1868.735619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.629056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700155; longitude = -122.102593; captureRadius = 10; duration = 84; initialDepth = 1815.561631; finalDepth = 1815.629056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6531600000001 # Actual altitude: 51.6531600000001 # Commanded vehicle depth:1815.629056 # Seafloor depth:-1867.282216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1865.561631 meters looking forward 100.000000 meters along route # Maximum depth: 1866.046800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.561631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700742; longitude = -122.103041; captureRadius = 10; duration = 84; initialDepth = 1811.748562; finalDepth = 1815.561631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6531600000001 # Actual altitude: 51.6531600000001 # Commanded vehicle depth:1815.561631 # Seafloor depth:-1866.009685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1861.748562 meters looking forward 100.000000 meters along route # Maximum depth: 1866.046800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.748562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701329; longitude = -122.103489; captureRadius = 10; duration = 84; initialDepth = 1810.218625; finalDepth = 1811.748562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1603339999999 # Actual altitude: 54.1603339999999 # Commanded vehicle depth:1811.748562 # Seafloor depth:-1865.908896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1860.218625 meters looking forward 100.000000 meters along route # Maximum depth: 1862.244901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.218625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701916; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1809.599895; finalDepth = 1810.218625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1603339999999 # Actual altitude: 54.1603339999999 # Commanded vehicle depth:1810.218625 # Seafloor depth:-1861.648387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1859.599895 meters looking forward 100.000000 meters along route # Maximum depth: 1861.119307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.599895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702504; longitude = -122.104385; captureRadius = 10; duration = 84; initialDepth = 1806.800077; finalDepth = 1809.599895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.429762 # Actual altitude: 51.429762 # Commanded vehicle depth:1809.599895 # Seafloor depth:-1860.651845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1856.800077 meters looking forward 100.000000 meters along route # Maximum depth: 1860.184299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.800077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703091; longitude = -122.104833; captureRadius = 10; duration = 84; initialDepth = 1806.795255; finalDepth = 1806.800077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5845869999998 # Actual altitude: 52.5845869999998 # Commanded vehicle depth:1806.800077 # Seafloor depth:-1859.384664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1856.795255 meters looking forward 100.000000 meters along route # Maximum depth: 1857.326488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.795255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703687; longitude = -122.105288; captureRadius = 10; duration = 84; initialDepth = 1793.815722; finalDepth = 1806.795255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5845869999998 # Actual altitude: 52.5845869999998 # Commanded vehicle depth:1806.795255 # Seafloor depth:-1856.795255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1843.815722 meters looking forward 100.000000 meters along route # Maximum depth: 1857.326488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.815722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704265; longitude = -122.105729; captureRadius = 10; duration = 84; initialDepth = 1774.533930; finalDepth = 1793.815722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1901249999999 # Actual altitude: 63.1901249999999 # Commanded vehicle depth:1793.815722 # Seafloor depth:-1857.005847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 252.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1824.533930 meters looking forward 100.000000 meters along route # Maximum depth: 1851.297781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.533930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704858; longitude = -122.106182; captureRadius = 10; duration = 84; initialDepth = 1766.671524; finalDepth = 1774.533930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0162359999999 # Actual altitude: 69.0162359999999 # Commanded vehicle depth:1774.53393 # Seafloor depth:-1843.550166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 276.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1816.671524 meters looking forward 100.000000 meters along route # Maximum depth: 1826.175840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.671524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705440; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1761.529420; finalDepth = 1766.671524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0162359999999 # Actual altitude: 69.0162359999999 # Commanded vehicle depth:1766.671524 # Seafloor depth:-1824.063316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 276.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1811.529420 meters looking forward 100.000000 meters along route # Maximum depth: 1820.465002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.529420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.107076; captureRadius = 10; duration = 84; initialDepth = 1760.007923; finalDepth = 1761.529420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3917919999999 # Actual altitude: 57.3917919999999 # Commanded vehicle depth:1761.52942 # Seafloor depth:-1816.615077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1810.007923 meters looking forward 100.000000 meters along route # Maximum depth: 1812.583614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.007923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706614; longitude = -122.107522; captureRadius = 10; duration = 84; initialDepth = 1754.140148; finalDepth = 1760.007923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0856569999999 # Actual altitude: 55.0856569999999 # Commanded vehicle depth:1760.007923 # Seafloor depth:-1811.063122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1804.140148 meters looking forward 100.000000 meters along route # Maximum depth: 1811.724399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.140148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707202; longitude = -122.107970; captureRadius = 10; duration = 84; initialDepth = 1746.026386; finalDepth = 1754.140148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.186021 # Actual altitude: 57.186021 # Commanded vehicle depth:1754.140148 # Seafloor depth:-1811.326169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1796.026386 meters looking forward 100.000000 meters along route # Maximum depth: 1805.742375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.026386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707789; longitude = -122.108418; captureRadius = 10; duration = 84; initialDepth = 1741.686243; finalDepth = 1746.026386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.337374 # Actual altitude: 57.337374 # Commanded vehicle depth:1746.026386 # Seafloor depth:-1803.363760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1791.686243 meters looking forward 100.000000 meters along route # Maximum depth: 1797.937581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.686243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708376; longitude = -122.108866; captureRadius = 10; duration = 84; initialDepth = 1739.747897; finalDepth = 1741.686243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.337374 # Actual altitude: 57.337374 # Commanded vehicle depth:1741.686243 # Seafloor depth:-1795.982686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1789.747897 meters looking forward 100.000000 meters along route # Maximum depth: 1793.778506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.747897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708963; longitude = -122.109314; captureRadius = 10; duration = 84; initialDepth = 1727.855508; finalDepth = 1739.747897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.296443 # Actual altitude: 54.296443 # Commanded vehicle depth:1739.747897 # Seafloor depth:-1792.234529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1777.855508 meters looking forward 100.000000 meters along route # Maximum depth: 1792.069252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.855508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709550; longitude = -122.109762; captureRadius = 10; duration = 84; initialDepth = 1709.765963; finalDepth = 1727.855508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.7529949999998 # Actual altitude: 61.7529949999998 # Commanded vehicle depth:1727.855508 # Seafloor depth:-1789.608503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 247.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1759.765963 meters looking forward 100.000000 meters along route # Maximum depth: 1780.731884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.765963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710138; longitude = -122.110211; captureRadius = 10; duration = 84; initialDepth = 1696.974810; finalDepth = 1709.765963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3425130000001 # Actual altitude: 66.3425130000001 # Commanded vehicle depth:1709.765963 # Seafloor depth:-1776.108476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 265.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1746.974810 meters looking forward 100.000000 meters along route # Maximum depth: 1763.172912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.974810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710725; longitude = -122.110659; captureRadius = 10; duration = 84; initialDepth = 1683.077489; finalDepth = 1696.974810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3425130000001 # Actual altitude: 66.3425130000001 # Commanded vehicle depth:1696.97481 # Seafloor depth:-1759.517041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 265.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1733.077489 meters looking forward 100.000000 meters along route # Maximum depth: 1748.441809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.077489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711312; longitude = -122.111107; captureRadius = 10; duration = 84; initialDepth = 1670.996493; finalDepth = 1683.077489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8571850000001 # Actual altitude: 62.8571850000001 # Commanded vehicle depth:1683.077489 # Seafloor depth:-1745.934674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1720.996493 meters looking forward 100.000000 meters along route # Maximum depth: 1735.211273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.996493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711899; longitude = -122.111555; captureRadius = 10; duration = 84; initialDepth = 1661.977968; finalDepth = 1670.996493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8571850000001 # Actual altitude: 62.8571850000001 # Commanded vehicle depth:1670.996493 # Seafloor depth:-1732.936181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1711.977968 meters looking forward 100.000000 meters along route # Maximum depth: 1723.690012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.977968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712487; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1651.640833; finalDepth = 1661.977968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9396879999999 # Actual altitude: 61.9396879999999 # Commanded vehicle depth:1661.977968 # Seafloor depth:-1719.428373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1701.640833 meters looking forward 100.000000 meters along route # Maximum depth: 1713.830728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.640833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713074; longitude = -122.112451; captureRadius = 10; duration = 84; initialDepth = 1649.482395; finalDepth = 1651.640833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.081334 # Actual altitude: 60.081334 # Commanded vehicle depth:1651.640833 # Seafloor depth:-1711.722167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 240.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1699.482395 meters looking forward 100.000000 meters along route # Maximum depth: 1702.798551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.482395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713661; longitude = -122.112899; captureRadius = 10; duration = 84; initialDepth = 1647.821583; finalDepth = 1649.482395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.081334 # Actual altitude: 60.081334 # Commanded vehicle depth:1649.482395 # Seafloor depth:-1700.980421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 240.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1697.821583 meters looking forward 100.000000 meters along route # Maximum depth: 1699.841669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.821583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714248; longitude = -122.113347; captureRadius = 10; duration = 84; initialDepth = 1631.092571; finalDepth = 1647.821583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.020086 # Actual altitude: 52.020086 # Commanded vehicle depth:1647.821583 # Seafloor depth:-1699.841669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1681.092571 meters looking forward 100.000000 meters along route # Maximum depth: 1699.513519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.092571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714836; longitude = -122.113795; captureRadius = 10; duration = 84; initialDepth = 1619.699575; finalDepth = 1631.092571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3040370000001 # Actual altitude: 65.3040370000001 # Commanded vehicle depth:1631.092571 # Seafloor depth:-1696.396608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 261.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1669.699575 meters looking forward 100.000000 meters along route # Maximum depth: 1686.124490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.699575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715423; longitude = -122.114244; captureRadius = 10; duration = 84; initialDepth = 1618.796607; finalDepth = 1619.699575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3040370000001 # Actual altitude: 65.3040370000001 # Commanded vehicle depth:1619.699575 # Seafloor depth:-1680.303125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 261.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.477679 meters # Minimum depth: 1668.796607 meters looking forward 100.000000 meters along route # Maximum depth: 1671.706723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.796607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716010; longitude = -122.114692; captureRadius = 10; duration = 84; initialDepth = 1616.450805; finalDepth = 1618.796607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6035499999998 # Actual altitude: 60.6035499999998 # Commanded vehicle depth:1618.796607 # Seafloor depth:-1668.925801 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 242.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 84.477679 meters # Minimum depth: 1666.450805 meters looking forward 100.000000 meters along route # Maximum depth: 1671.706723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.450805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716587; longitude = -122.115132; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1610.044623; finalDepth = 1616.450805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3985600000001 # Actual altitude: 54.3985600000001 # Commanded vehicle depth:1616.450805 # Seafloor depth:-1670.849365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1660.044623 meters looking forward 100.000000 meters along route # Maximum depth: 1668.760915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.044623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716753; longitude = -122.114796; captureRadius = 10; duration = 84; initialDepth = 1607.078719; finalDepth = 1610.044623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.316507 # Actual altitude: 56.316507 # Commanded vehicle depth:1610.044623 # Seafloor depth:-1666.361130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1657.078719 meters looking forward 100.000000 meters along route # Maximum depth: 1660.577592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.078719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717114; longitude = -122.114067; captureRadius = 10; duration = 84; initialDepth = 1606.648005; finalDepth = 1607.078719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.316507 # Actual altitude: 56.316507 # Commanded vehicle depth:1607.078719 # Seafloor depth:-1659.825281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1656.648005 meters looking forward 100.000000 meters along route # Maximum depth: 1657.730088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.648005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717474; longitude = -122.113339; captureRadius = 10; duration = 84; initialDepth = 1603.193102; finalDepth = 1606.648005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7465619999998 # Actual altitude: 52.7465619999998 # Commanded vehicle depth:1606.648005 # Seafloor depth:-1657.561481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1653.193102 meters looking forward 100.000000 meters along route # Maximum depth: 1656.837674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.193102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717835; longitude = -122.112610; captureRadius = 10; duration = 84; initialDepth = 1601.966888; finalDepth = 1603.193102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.146645 # Actual altitude: 53.146645 # Commanded vehicle depth:1603.193102 # Seafloor depth:-1656.339747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1651.966888 meters looking forward 100.000000 meters along route # Maximum depth: 1653.511629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.966888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718195; longitude = -122.111882; captureRadius = 10; duration = 84; initialDepth = 1600.921636; finalDepth = 1601.966888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.146645 # Actual altitude: 53.146645 # Commanded vehicle depth:1601.966888 # Seafloor depth:-1653.509844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.477679 meters # Minimum depth: 1650.921636 meters looking forward 100.000000 meters along route # Maximum depth: 1652.566576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.921636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718556; longitude = -122.111153; captureRadius = 10; duration = 84; initialDepth = 1600.921636; finalDepth = 1600.921636; 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: 51.542956 # Actual altitude: 51.542956 # Commanded vehicle depth:1600.921636 # Seafloor depth:-1651.719253 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 84.477679 meters # Minimum depth: 1650.921636 meters looking forward 100.000000 meters along route # Maximum depth: 1656.138110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.921636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718912; longitude = -122.110433; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1602.566576; finalDepth = 1600.921636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.760951 # Actual altitude: 53.760951 # Commanded vehicle depth:1600.921636 # Seafloor depth:-1654.682587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1652.566576 meters looking forward 100.000000 meters along route # Maximum depth: 1676.653620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.566576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718765; longitude = -122.110323; captureRadius = 10; duration = 84; initialDepth = 1624.024759; finalDepth = 1602.566576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1776180000002 # Actual altitude: 56.1776180000002 # Commanded vehicle depth:1602.566576 # Seafloor depth:-1658.744194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1674.024759 meters looking forward 100.000000 meters along route # Maximum depth: 1687.086438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.024759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718171; longitude = -122.109874; captureRadius = 10; duration = 84; initialDepth = 1636.355062; finalDepth = 1624.024759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1776180000002 # Actual altitude: 56.1776180000002 # Commanded vehicle depth:1624.024759 # Seafloor depth:-1677.179662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1686.355062 meters looking forward 100.000000 meters along route # Maximum depth: 1691.442631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.355062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717564; longitude = -122.109418; captureRadius = 10; duration = 84; initialDepth = 1639.235134; finalDepth = 1636.355062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1549030000001 # Actual altitude: 53.1549030000001 # Commanded vehicle depth:1636.355062 # Seafloor depth:-1687.070107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1689.235134 meters looking forward 100.000000 meters along route # Maximum depth: 1699.456921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.235134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716981; longitude = -122.108978; captureRadius = 10; duration = 84; initialDepth = 1647.693692; finalDepth = 1639.235134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0178109999999 # Actual altitude: 53.0178109999999 # Commanded vehicle depth:1639.235134 # Seafloor depth:-1692.252945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1697.693692 meters looking forward 100.000000 meters along route # Maximum depth: 1704.405251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.693692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716386; longitude = -122.108530; captureRadius = 10; duration = 84; initialDepth = 1652.476990; finalDepth = 1647.693692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0178109999999 # Actual altitude: 53.0178109999999 # Commanded vehicle depth:1647.693692 # Seafloor depth:-1699.529170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1702.476990 meters looking forward 100.000000 meters along route # Maximum depth: 1719.381476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.476990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715792; longitude = -122.108082; captureRadius = 10; duration = 84; initialDepth = 1666.376091; finalDepth = 1652.476990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4226130000002 # Actual altitude: 53.4226130000002 # Commanded vehicle depth:1652.47699 # Seafloor depth:-1705.899603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1716.376091 meters looking forward 100.000000 meters along route # Maximum depth: 1735.635433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.376091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715197; longitude = -122.107634; captureRadius = 10; duration = 84; initialDepth = 1681.657598; finalDepth = 1666.376091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.725336 # Actual altitude: 53.725336 # Commanded vehicle depth:1666.376091 # Seafloor depth:-1720.101427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1731.657598 meters looking forward 100.000000 meters along route # Maximum depth: 1742.147584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.657598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714591; longitude = -122.107177; captureRadius = 10; duration = 84; initialDepth = 1691.217386; finalDepth = 1681.657598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2534069999999 # Actual altitude: 54.2534069999999 # Commanded vehicle depth:1681.657598 # Seafloor depth:-1735.911005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1741.217386 meters looking forward 100.000000 meters along route # Maximum depth: 1758.292670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.217386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714007; longitude = -122.106738; captureRadius = 10; duration = 84; initialDepth = 1704.476376; finalDepth = 1691.217386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2534069999999 # Actual altitude: 54.2534069999999 # Commanded vehicle depth:1691.217386 # Seafloor depth:-1742.703985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1754.476376 meters looking forward 100.000000 meters along route # Maximum depth: 1770.636257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.476376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713413; longitude = -122.106290; captureRadius = 10; duration = 84; initialDepth = 1718.494379; finalDepth = 1704.476376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.016574 # Actual altitude: 54.016574 # Commanded vehicle depth:1704.476376 # Seafloor depth:-1758.492950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1768.494379 meters looking forward 100.000000 meters along route # Maximum depth: 1773.320502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.494379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712818; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1718.766356; finalDepth = 1718.494379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.016574 # Actual altitude: 54.016574 # Commanded vehicle depth:1718.494379 # Seafloor depth:-1771.751268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1768.766356 meters looking forward 100.000000 meters along route # Maximum depth: 1773.320502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.766356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712223; longitude = -122.105393; captureRadius = 10; duration = 84; initialDepth = 1718.766356; finalDepth = 1718.766356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9699169999999 # Actual altitude: 53.9699169999999 # Commanded vehicle depth:1718.766356 # Seafloor depth:-1772.736273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1768.766356 meters looking forward 100.000000 meters along route # Maximum depth: 1784.696255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.766356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.104936; captureRadius = 10; duration = 84; initialDepth = 1732.063157; finalDepth = 1718.766356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9699169999999 # Actual altitude: 53.9699169999999 # Commanded vehicle depth:1718.766356 # Seafloor depth:-1770.293815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1782.063157 meters looking forward 100.000000 meters along route # Maximum depth: 1794.593014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.063157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711034; longitude = -122.104497; captureRadius = 10; duration = 84; initialDepth = 1743.458629; finalDepth = 1732.063157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6275989999999 # Actual altitude: 53.6275989999999 # Commanded vehicle depth:1732.063157 # Seafloor depth:-1785.690756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1793.458629 meters looking forward 100.000000 meters along route # Maximum depth: 1806.737591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.458629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710439; longitude = -122.104049; captureRadius = 10; duration = 84; initialDepth = 1755.218146; finalDepth = 1743.458629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6275989999999 # Actual altitude: 53.6275989999999 # Commanded vehicle depth:1743.458629 # Seafloor depth:-1794.690591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1805.218146 meters looking forward 100.000000 meters along route # Maximum depth: 1816.832213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.218146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709844; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1762.029420; finalDepth = 1755.218146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5058000000001 # Actual altitude: 52.5058000000001 # Commanded vehicle depth:1755.218146 # Seafloor depth:-1807.723946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1812.029420 meters looking forward 100.000000 meters along route # Maximum depth: 1816.832213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.029420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709249; longitude = -122.103153; captureRadius = 10; duration = 84; initialDepth = 1760.315168; finalDepth = 1762.029420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7415699999999 # Actual altitude: 54.7415699999999 # Commanded vehicle depth:1762.02942 # Seafloor depth:-1816.770990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1810.315168 meters looking forward 100.000000 meters along route # Maximum depth: 1812.245455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.315168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708643; longitude = -122.102696; captureRadius = 10; duration = 84; initialDepth = 1760.817327; finalDepth = 1760.315168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7415699999999 # Actual altitude: 54.7415699999999 # Commanded vehicle depth:1760.315168 # Seafloor depth:-1812.051755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1810.817327 meters looking forward 100.000000 meters along route # Maximum depth: 1834.312292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.817327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708060; longitude = -122.102256; captureRadius = 10; duration = 84; initialDepth = 1780.336797; finalDepth = 1760.817327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3314660000001 # Actual altitude: 52.3314660000001 # Commanded vehicle depth:1760.817327 # Seafloor depth:-1813.148793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1830.336797 meters looking forward 100.000000 meters along route # Maximum depth: 1838.604640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.336797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707465; longitude = -122.101808; captureRadius = 10; duration = 84; initialDepth = 1788.291168; finalDepth = 1780.336797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.073478 # Actual altitude: 54.073478 # Commanded vehicle depth:1780.336797 # Seafloor depth:-1834.410275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1838.291168 meters looking forward 100.000000 meters along route # Maximum depth: 1840.945422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.291168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706870; longitude = -122.101360; captureRadius = 10; duration = 84; initialDepth = 1789.870259; finalDepth = 1788.291168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.073478 # Actual altitude: 54.073478 # Commanded vehicle depth:1788.291168 # Seafloor depth:-1838.784325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1839.870259 meters looking forward 100.000000 meters along route # Maximum depth: 1844.626596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.870259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706276; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1794.488808; finalDepth = 1789.870259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.342212 # Actual altitude: 51.342212 # Commanded vehicle depth:1789.870259 # Seafloor depth:-1841.212471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1844.488808 meters looking forward 100.000000 meters along route # Maximum depth: 1847.654013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.488808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.100455; captureRadius = 10; duration = 84; initialDepth = 1796.920970; finalDepth = 1794.488808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.342212 # Actual altitude: 51.342212 # Commanded vehicle depth:1794.488808 # Seafloor depth:-1844.640977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1846.920970 meters looking forward 100.000000 meters along route # Maximum depth: 1849.771818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.920970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705086; longitude = -122.100016; captureRadius = 10; duration = 84; initialDepth = 1799.503867; finalDepth = 1796.920970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.024122 # Actual altitude: 51.024122 # Commanded vehicle depth:1796.92097 # Seafloor depth:-1847.945092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1849.503867 meters looking forward 100.000000 meters along route # Maximum depth: 1853.088602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.503867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704491; longitude = -122.099568; captureRadius = 10; duration = 84; initialDepth = 1797.452601; finalDepth = 1799.503867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.024122 # Actual altitude: 51.024122 # Commanded vehicle depth:1799.503867 # Seafloor depth:-1849.805807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1847.452601 meters looking forward 100.000000 meters along route # Maximum depth: 1854.377264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.452601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703897; longitude = -122.099120; captureRadius = 10; duration = 84; initialDepth = 1797.000187; finalDepth = 1797.452601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3448880000001 # Actual altitude: 56.3448880000001 # Commanded vehicle depth:1797.452601 # Seafloor depth:-1853.797489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1847.000187 meters looking forward 100.000000 meters along route # Maximum depth: 1853.802138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.000187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703302; longitude = -122.098672; captureRadius = 10; duration = 84; initialDepth = 1801.151005; finalDepth = 1797.000187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3448880000001 # Actual altitude: 56.3448880000001 # Commanded vehicle depth:1797.000187 # Seafloor depth:-1847.262043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1851.151005 meters looking forward 100.000000 meters along route # Maximum depth: 1853.802138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.151005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.098215; captureRadius = 10; duration = 84; initialDepth = 1801.151005; finalDepth = 1801.151005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6441240000001 # Actual altitude: 52.6441240000001 # Commanded vehicle depth:1801.151005 # Seafloor depth:-1853.795129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1851.151005 meters looking forward 100.000000 meters along route # Maximum depth: 1852.277782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.151005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702112; longitude = -122.097775; captureRadius = 10; duration = 84; initialDepth = 1799.697574; finalDepth = 1801.151005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6441240000001 # Actual altitude: 52.6441240000001 # Commanded vehicle depth:1801.151005 # Seafloor depth:-1851.452765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1849.697574 meters looking forward 100.000000 meters along route # Maximum depth: 1852.114541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.697574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701518; longitude = -122.097327; captureRadius = 10; duration = 84; initialDepth = 1799.150637; finalDepth = 1799.697574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.989413 # Actual altitude: 51.989413 # Commanded vehicle depth:1799.697574 # Seafloor depth:-1851.686987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1849.150637 meters looking forward 100.000000 meters along route # Maximum depth: 1850.033382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.150637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700923; longitude = -122.096879; captureRadius = 10; duration = 84; initialDepth = 1799.055267; finalDepth = 1799.150637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.989413 # Actual altitude: 51.989413 # Commanded vehicle depth:1799.150637 # Seafloor depth:-1849.510318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1849.055267 meters looking forward 100.000000 meters along route # Maximum depth: 1850.379589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.055267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700328; longitude = -122.096431; captureRadius = 10; duration = 84; initialDepth = 1797.994274; finalDepth = 1799.055267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3596810000001 # Actual altitude: 50.3596810000001 # Commanded vehicle depth:1799.055267 # Seafloor depth:-1849.166437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1847.994274 meters looking forward 100.000000 meters along route # Maximum depth: 1849.969675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.994274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699722; longitude = -122.095974; captureRadius = 10; duration = 84; initialDepth = 1795.965032; finalDepth = 1797.994274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3963130000002 # Actual altitude: 51.3963130000002 # Commanded vehicle depth:1797.994274 # Seafloor depth:-1849.390587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1845.965032 meters looking forward 100.000000 meters along route # Maximum depth: 1848.888577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.965032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.095499; captureRadius = 10; duration = 84; initialDepth = 1795.277938; finalDepth = 1795.965032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.788219 # Actual altitude: 52.788219 # Commanded vehicle depth:1795.965032 # Seafloor depth:-1848.753251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1845.277938 meters looking forward 100.000000 meters along route # Maximum depth: 1846.206443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.277938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.095023; captureRadius = 10; duration = 84; initialDepth = 1781.713258; finalDepth = 1795.277938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.788219 # Actual altitude: 52.788219 # Commanded vehicle depth:1795.277938 # Seafloor depth:-1845.665473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.477679 meters # Minimum depth: 1831.713258 meters looking forward 100.000000 meters along route # Maximum depth: 1846.206443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.713258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.094548; captureRadius = 10; duration = 84; initialDepth = 1779.916748; finalDepth = 1781.713258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6138759999999 # Actual altitude: 63.6138759999999 # Commanded vehicle depth:1781.713258 # Seafloor depth:-1845.327134 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 84.477679 meters # Minimum depth: 1829.916748 meters looking forward 100.000000 meters along route # Maximum depth: 1839.651609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.916748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.094111; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1778.330155; finalDepth = 1779.916748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6138759999999 # Actual altitude: 63.6138759999999 # Commanded vehicle depth:1779.916748 # Seafloor depth:-1829.916748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1828.330155 meters looking forward 100.000000 meters along route # Maximum depth: 1837.496191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.330155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697423; longitude = -122.093518; captureRadius = 10; duration = 84; initialDepth = 1778.332934; finalDepth = 1778.330155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0159799999999 # Actual altitude: 58.0159799999999 # Commanded vehicle depth:1778.330155 # Seafloor depth:-1836.346135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1828.332934 meters looking forward 100.000000 meters along route # Maximum depth: 1835.388623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.332934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697687; longitude = -122.092622; captureRadius = 10; duration = 84; initialDepth = 1781.037926; finalDepth = 1778.332934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0159799999999 # Actual altitude: 58.0159799999999 # Commanded vehicle depth:1778.332934 # Seafloor depth:-1828.792403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1831.037926 meters looking forward 100.000000 meters along route # Maximum depth: 1833.987847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.037926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697950; longitude = -122.091726; captureRadius = 10; duration = 84; initialDepth = 1779.357733; finalDepth = 1781.037926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1220330000001 # Actual altitude: 52.1220330000001 # Commanded vehicle depth:1781.037926 # Seafloor depth:-1833.159959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1829.357733 meters looking forward 100.000000 meters along route # Maximum depth: 1831.446660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.357733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698214; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1777.081623; finalDepth = 1779.357733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1220330000001 # Actual altitude: 52.1220330000001 # Commanded vehicle depth:1779.357733 # Seafloor depth:-1831.218374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1827.081623 meters looking forward 100.000000 meters along route # Maximum depth: 1829.704786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.081623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698477; longitude = -122.089933; captureRadius = 10; duration = 84; initialDepth = 1773.918211; finalDepth = 1777.081623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5569860000001 # Actual altitude: 52.5569860000001 # Commanded vehicle depth:1777.081623 # Seafloor depth:-1829.638609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1823.918211 meters looking forward 100.000000 meters along route # Maximum depth: 1827.414841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.918211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698741; longitude = -122.089037; captureRadius = 10; duration = 84; initialDepth = 1771.456620; finalDepth = 1773.918211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.012154 # Actual altitude: 53.012154 # Commanded vehicle depth:1773.918211 # Seafloor depth:-1826.930365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1821.456620 meters looking forward 100.000000 meters along route # Maximum depth: 1824.142922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.456620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699001; longitude = -122.088153; captureRadius = 10; duration = 84; initialDepth = 1769.272877; finalDepth = 1771.456620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.012154 # Actual altitude: 53.012154 # Commanded vehicle depth:1771.45662 # Seafloor depth:-1823.845227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.477679 meters # Minimum depth: 1819.272877 meters looking forward 100.000000 meters along route # Maximum depth: 1822.395229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.272877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699235; longitude = -122.087357; captureRadius = 10; duration = 84; initialDepth = 1767.971243; finalDepth = 1769.272877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3886070000001 # Actual altitude: 52.3886070000001 # Commanded vehicle depth:1769.272877 # Seafloor depth:-1820.852669 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 84.477679 meters # Minimum depth: 1817.971243 meters looking forward 100.000000 meters along route # Maximum depth: 1820.350346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.971243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.086543; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1764.385130; finalDepth = 1767.971243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.579792 # Actual altitude: 51.579792 # Commanded vehicle depth:1767.971243 # Seafloor depth:-1819.163574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1814.385130 meters looking forward 100.000000 meters along route # Maximum depth: 1818.393918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.385130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699203; longitude = -122.085788; captureRadius = 10; duration = 84; initialDepth = 1763.105952; finalDepth = 1764.385130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9484470000002 # Actual altitude: 52.9484470000002 # Commanded vehicle depth:1764.38513 # Seafloor depth:-1817.333577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1813.105952 meters looking forward 100.000000 meters along route # Maximum depth: 1814.729872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.105952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698922; longitude = -122.085004; captureRadius = 10; duration = 84; initialDepth = 1760.689765; finalDepth = 1763.105952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9484470000002 # Actual altitude: 52.9484470000002 # Commanded vehicle depth:1763.105952 # Seafloor depth:-1814.150013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1810.689765 meters looking forward 100.000000 meters along route # Maximum depth: 1814.404157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.689765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698640; longitude = -122.084217; captureRadius = 10; duration = 84; initialDepth = 1758.827068; finalDepth = 1760.689765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.392278 # Actual altitude: 52.392278 # Commanded vehicle depth:1760.689765 # Seafloor depth:-1813.082043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1808.827068 meters looking forward 100.000000 meters along route # Maximum depth: 1812.506817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.827068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698360; longitude = -122.083436; captureRadius = 10; duration = 84; initialDepth = 1753.353934; finalDepth = 1758.827068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.587309 # Actual altitude: 52.587309 # Commanded vehicle depth:1758.827068 # Seafloor depth:-1811.414377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1803.353934 meters looking forward 100.000000 meters along route # Maximum depth: 1810.898935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.353934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698079; longitude = -122.082651; captureRadius = 10; duration = 84; initialDepth = 1749.517463; finalDepth = 1753.353934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6105460000001 # Actual altitude: 54.6105460000001 # Commanded vehicle depth:1753.353934 # Seafloor depth:-1807.964480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1799.517463 meters looking forward 100.000000 meters along route # Maximum depth: 1803.923486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.517463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697798; longitude = -122.081867; captureRadius = 10; duration = 84; initialDepth = 1743.105511; finalDepth = 1749.517463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6105460000001 # Actual altitude: 54.6105460000001 # Commanded vehicle depth:1749.517463 # Seafloor depth:-1802.871272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1793.105511 meters looking forward 100.000000 meters along route # Maximum depth: 1799.878211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.105511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697517; longitude = -122.081083; captureRadius = 10; duration = 84; initialDepth = 1738.781378; finalDepth = 1743.105511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2148629999999 # Actual altitude: 56.2148629999999 # Commanded vehicle depth:1743.105511 # Seafloor depth:-1799.320374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1788.781378 meters looking forward 100.000000 meters along route # Maximum depth: 1794.227807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.781378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697236; longitude = -122.080299; captureRadius = 10; duration = 84; initialDepth = 1729.203469; finalDepth = 1738.781378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2148629999999 # Actual altitude: 56.2148629999999 # Commanded vehicle depth:1738.781378 # Seafloor depth:-1792.504883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.477679 meters # Minimum depth: 1779.203469 meters looking forward 100.000000 meters along route # Maximum depth: 1789.606710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.203469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696955; longitude = -122.079515; captureRadius = 10; duration = 84; initialDepth = 1727.521576; finalDepth = 1729.203469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.672507 # Actual altitude: 57.672507 # Commanded vehicle depth:1729.203469 # Seafloor depth:-1786.875976 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 84.477679 meters # Minimum depth: 1777.521576 meters looking forward 100.000000 meters along route # Maximum depth: 1786.875976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.521576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696655; longitude = -122.078679; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1717.929156; finalDepth = 1727.521576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.672507 # Actual altitude: 57.672507 # Commanded vehicle depth:1727.521576 # Seafloor depth:-1777.521576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1767.929156 meters looking forward 100.000000 meters along route # Maximum depth: 1779.203469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.929156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696625; longitude = -122.078506; captureRadius = 10; duration = 84; initialDepth = 1713.453278; finalDepth = 1717.929156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7809690000001 # Actual altitude: 58.7809690000001 # Commanded vehicle depth:1717.929156 # Seafloor depth:-1776.710125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1763.453278 meters looking forward 100.000000 meters along route # Maximum depth: 1768.960658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.453278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696470; longitude = -122.077610; captureRadius = 10; duration = 84; initialDepth = 1712.399278; finalDepth = 1713.453278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7809690000001 # Actual altitude: 58.7809690000001 # Commanded vehicle depth:1713.453278 # Seafloor depth:-1767.326222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1762.399278 meters looking forward 100.000000 meters along route # Maximum depth: 1763.506543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.399278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696315; longitude = -122.076714; captureRadius = 10; duration = 84; initialDepth = 1709.772205; finalDepth = 1712.399278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.872944 # Actual altitude: 53.872944 # Commanded vehicle depth:1712.399278 # Seafloor depth:-1763.223908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1759.772205 meters looking forward 100.000000 meters along route # Maximum depth: 1763.823388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.772205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696160; longitude = -122.075818; captureRadius = 10; duration = 84; initialDepth = 1703.548355; finalDepth = 1709.772205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.051183 # Actual altitude: 54.051183 # Commanded vehicle depth:1709.772205 # Seafloor depth:-1763.823388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1753.548355 meters looking forward 100.000000 meters along route # Maximum depth: 1759.871766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.548355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696005; longitude = -122.074921; captureRadius = 10; duration = 84; initialDepth = 1695.888499; finalDepth = 1703.548355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.680906 # Actual altitude: 55.680906 # Commanded vehicle depth:1703.548355 # Seafloor depth:-1759.229261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1745.888499 meters looking forward 100.000000 meters along route # Maximum depth: 1754.973899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.888499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.074005; captureRadius = 10; duration = 84; initialDepth = 1692.571067; finalDepth = 1695.888499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4159770000001 # Actual altitude: 57.4159770000001 # Commanded vehicle depth:1695.888499 # Seafloor depth:-1753.304476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 229.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1742.571067 meters looking forward 100.000000 meters along route # Maximum depth: 1746.262273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.571067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695695; longitude = -122.073129; captureRadius = 10; duration = 84; initialDepth = 1691.432440; finalDepth = 1692.571067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4159770000001 # Actual altitude: 57.4159770000001 # Commanded vehicle depth:1692.571067 # Seafloor depth:-1745.749878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 229.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1741.432440 meters looking forward 100.000000 meters along route # Maximum depth: 1743.542965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.432440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695540; longitude = -122.072233; captureRadius = 10; duration = 84; initialDepth = 1689.075084; finalDepth = 1691.432440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.178811 # Actual altitude: 53.178811 # Commanded vehicle depth:1691.43244 # Seafloor depth:-1741.876921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1739.075084 meters looking forward 100.000000 meters along route # Maximum depth: 1742.676256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.075084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.071399; captureRadius = 10; duration = 84; initialDepth = 1684.749899; finalDepth = 1689.075084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3330739999999 # Actual altitude: 53.3330739999999 # Commanded vehicle depth:1689.075084 # Seafloor depth:-1742.408158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1734.749899 meters looking forward 100.000000 meters along route # Maximum depth: 1739.075084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.749899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695250; longitude = -122.070552; captureRadius = 10; duration = 84; initialDepth = 1685.665563; finalDepth = 1684.749899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.470869 # Actual altitude: 53.470869 # Commanded vehicle depth:1684.749899 # Seafloor depth:-1738.220768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1735.665563 meters looking forward 100.000000 meters along route # Maximum depth: 1737.305952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.665563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695095; longitude = -122.069656; captureRadius = 10; duration = 84; initialDepth = 1682.546476; finalDepth = 1685.665563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.470869 # Actual altitude: 53.470869 # Commanded vehicle depth:1685.665563 # Seafloor depth:-1736.758271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1732.546476 meters looking forward 100.000000 meters along route # Maximum depth: 1736.702034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.546476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694940; longitude = -122.068760; captureRadius = 10; duration = 84; initialDepth = 1684.798142; finalDepth = 1682.546476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6534360000001 # Actual altitude: 53.6534360000001 # Commanded vehicle depth:1682.546476 # Seafloor depth:-1736.199912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1734.798142 meters looking forward 100.000000 meters along route # Maximum depth: 1738.871389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.798142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694785; longitude = -122.067864; captureRadius = 10; duration = 84; initialDepth = 1688.516904; finalDepth = 1684.798142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6534360000001 # Actual altitude: 53.6534360000001 # Commanded vehicle depth:1684.798142 # Seafloor depth:-1735.073566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1738.516904 meters looking forward 100.000000 meters along route # Maximum depth: 1742.974567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.516904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694630; longitude = -122.066967; captureRadius = 10; duration = 84; initialDepth = 1690.756283; finalDepth = 1688.516904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3109749999999 # Actual altitude: 50.3109749999999 # Commanded vehicle depth:1688.516904 # Seafloor depth:-1738.827879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1740.756283 meters looking forward 100.000000 meters along route # Maximum depth: 1742.981654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.756283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694475; longitude = -122.066071; captureRadius = 10; duration = 84; initialDepth = 1684.195904; finalDepth = 1690.756283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.225371 # Actual altitude: 52.225371 # Commanded vehicle depth:1690.756283 # Seafloor depth:-1742.981654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1734.195904 meters looking forward 100.000000 meters along route # Maximum depth: 1742.529121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.195904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694315; longitude = -122.065146; captureRadius = 10; duration = 84; initialDepth = 1679.285530; finalDepth = 1684.195904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2342350000001 # Actual altitude: 58.2342350000001 # Commanded vehicle depth:1684.195904 # Seafloor depth:-1742.430139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1729.285530 meters looking forward 100.000000 meters along route # Maximum depth: 1734.195904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.285530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694165; longitude = -122.064279; captureRadius = 10; duration = 84; initialDepth = 1671.822141; finalDepth = 1679.285530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2342350000001 # Actual altitude: 58.2342350000001 # Commanded vehicle depth:1679.28553 # Seafloor depth:-1733.076203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1721.822141 meters looking forward 100.000000 meters along route # Maximum depth: 1729.285530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.822141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694010; longitude = -122.063382; captureRadius = 10; duration = 84; initialDepth = 1659.521048; finalDepth = 1671.822141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9817529999998 # Actual altitude: 55.9817529999998 # Commanded vehicle depth:1671.822141 # Seafloor depth:-1727.803894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1709.521048 meters looking forward 100.000000 meters along route # Maximum depth: 1721.982956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.521048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693855; longitude = -122.062486; captureRadius = 10; duration = 84; initialDepth = 1650.613880; finalDepth = 1659.521048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.138815 # Actual altitude: 62.138815 # Commanded vehicle depth:1659.521048 # Seafloor depth:-1721.659863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1700.613880 meters looking forward 100.000000 meters along route # Maximum depth: 1709.521048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.613880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693700; longitude = -122.061590; captureRadius = 10; duration = 84; initialDepth = 1630.501228; finalDepth = 1650.613880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.138815 # Actual altitude: 62.138815 # Commanded vehicle depth:1650.61388 # Seafloor depth:-1708.799499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1680.501228 meters looking forward 100.000000 meters along route # Maximum depth: 1700.613880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.501228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693545; longitude = -122.060694; captureRadius = 10; duration = 84; initialDepth = 1613.041385; finalDepth = 1630.501228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.542363 # Actual altitude: 67.542363 # Commanded vehicle depth:1630.501228 # Seafloor depth:-1698.043591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.477679 meters # Minimum depth: 1663.041385 meters looking forward 100.000000 meters along route # Maximum depth: 1683.124959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.041385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693390; longitude = -122.059797; captureRadius = 10; duration = 84; initialDepth = 1612.709503; finalDepth = 1613.041385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.542363 # Actual altitude: 67.542363 # Commanded vehicle depth:1613.041385 # Seafloor depth:-1677.602841 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 84.477679 meters # Minimum depth: 1662.709503 meters looking forward 100.000000 meters along route # Maximum depth: 1669.685664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.709503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1619.685664; finalDepth = 1612.709503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5614559999999 # Actual altitude: 64.5614559999999 # Commanded vehicle depth:1612.709503 # Seafloor depth:-1664.450439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1669.685664 meters looking forward 100.000000 meters along route # Maximum depth: 1676.819615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.685664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058117; captureRadius = 10; duration = 84; initialDepth = 1626.819615; finalDepth = 1619.685664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7409359999999 # Actual altitude: 51.7409359999999 # Commanded vehicle depth:1619.685664 # Seafloor depth:-1670.409114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1676.819615 meters looking forward 100.000000 meters along route # Maximum depth: 1679.093162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.819615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.057221; captureRadius = 10; duration = 84; initialDepth = 1627.761930; finalDepth = 1626.819615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8942099999999 # Actual altitude: 50.8942099999999 # Commanded vehicle depth:1626.819615 # Seafloor depth:-1677.713825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1677.761930 meters looking forward 100.000000 meters along route # Maximum depth: 1680.656474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.761930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.056324; captureRadius = 10; duration = 84; initialDepth = 1627.320556; finalDepth = 1627.761930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8942099999999 # Actual altitude: 50.8942099999999 # Commanded vehicle depth:1627.76193 # Seafloor depth:-1678.272025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1677.320556 meters looking forward 100.000000 meters along route # Maximum depth: 1680.754806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.320556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.055428; captureRadius = 10; duration = 84; initialDepth = 1627.320556; finalDepth = 1627.320556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43425 # Actual altitude: 53.43425 # Commanded vehicle depth:1627.320556 # Seafloor depth:-1680.754806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1677.320556 meters looking forward 100.000000 meters along route # Maximum depth: 1680.285796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.320556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.054532; captureRadius = 10; duration = 84; initialDepth = 1625.848280; finalDepth = 1627.320556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43425 # Actual altitude: 53.43425 # Commanded vehicle depth:1627.320556 # Seafloor depth:-1677.743254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1675.848280 meters looking forward 100.000000 meters along route # Maximum depth: 1677.883952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.848280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.053636; captureRadius = 10; duration = 84; initialDepth = 1623.721226; finalDepth = 1625.848280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.216856 # Actual altitude: 51.216856 # Commanded vehicle depth:1625.84828 # Seafloor depth:-1677.065136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1673.721226 meters looking forward 100.000000 meters along route # Maximum depth: 1675.848280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.721226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.052740; captureRadius = 10; duration = 84; initialDepth = 1617.674675; finalDepth = 1623.721226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8074240000001 # Actual altitude: 51.8074240000001 # Commanded vehicle depth:1623.721226 # Seafloor depth:-1675.528650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1667.674675 meters looking forward 100.000000 meters along route # Maximum depth: 1673.721226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.674675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.051843; captureRadius = 10; duration = 84; initialDepth = 1616.755571; finalDepth = 1617.674675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.600226 # Actual altitude: 55.600226 # Commanded vehicle depth:1617.674675 # Seafloor depth:-1673.274901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1666.755571 meters looking forward 100.000000 meters along route # Maximum depth: 1667.675127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.755571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050947; captureRadius = 10; duration = 84; initialDepth = 1615.315284; finalDepth = 1616.755571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.600226 # Actual altitude: 55.600226 # Commanded vehicle depth:1616.755571 # Seafloor depth:-1667.001755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1665.315284 meters looking forward 100.000000 meters along route # Maximum depth: 1666.901274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.315284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050051; captureRadius = 10; duration = 84; initialDepth = 1614.089873; finalDepth = 1615.315284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.92857 # Actual altitude: 50.92857 # Commanded vehicle depth:1615.315284 # Seafloor depth:-1666.243854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1664.089873 meters looking forward 100.000000 meters along route # Maximum depth: 1666.072341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.089873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.049155; captureRadius = 10; duration = 84; initialDepth = 1608.843772; finalDepth = 1614.089873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8719230000002 # Actual altitude: 51.8719230000002 # Commanded vehicle depth:1614.089873 # Seafloor depth:-1665.961796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1658.843772 meters looking forward 100.000000 meters along route # Maximum depth: 1664.089873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.843772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.048258; captureRadius = 10; duration = 84; initialDepth = 1600.599677; finalDepth = 1608.843772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4840060000001 # Actual altitude: 54.4840060000001 # Commanded vehicle depth:1608.843772 # Seafloor depth:-1663.327778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1650.599677 meters looking forward 100.000000 meters along route # Maximum depth: 1658.843772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.599677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.047362; captureRadius = 10; duration = 84; initialDepth = 1592.252707; finalDepth = 1600.599677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5272010000001 # Actual altitude: 57.5272010000001 # Commanded vehicle depth:1600.599677 # Seafloor depth:-1658.126878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1642.252707 meters looking forward 100.000000 meters along route # Maximum depth: 1650.599677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.252707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.046466; captureRadius = 10; duration = 84; initialDepth = 1586.106722; finalDepth = 1592.252707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5272010000001 # Actual altitude: 57.5272010000001 # Commanded vehicle depth:1592.252707 # Seafloor depth:-1649.129762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1636.106722 meters looking forward 100.000000 meters along route # Maximum depth: 1642.252707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.106722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.045570; captureRadius = 10; duration = 84; initialDepth = 1576.586698; finalDepth = 1586.106722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8770549999999 # Actual altitude: 56.8770549999999 # Commanded vehicle depth:1586.106722 # Seafloor depth:-1640.909298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.477679 meters # Minimum depth: 1626.586698 meters looking forward 100.000000 meters along route # Maximum depth: 1636.357857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.586698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.044673; captureRadius = 10; duration = 84; initialDepth = 1573.342946; finalDepth = 1576.586698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7864909999998 # Actual altitude: 58.7864909999998 # Commanded vehicle depth:1576.586698 # Seafloor depth:-1635.373189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 84.477679 meters # Minimum depth: 1623.342946 meters looking forward 100.000000 meters along route # Maximum depth: 1627.590174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.342946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.043806; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1566.340346; finalDepth = 1573.342946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7864909999998 # Actual altitude: 58.7864909999998 # Commanded vehicle depth:1573.342946 # Seafloor depth:-1627.046539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1616.340346 meters looking forward 100.000000 meters along route # Maximum depth: 1623.376900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.340346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693414; longitude = -122.042972; captureRadius = 10; duration = 84; initialDepth = 1563.139053; finalDepth = 1566.340346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9802710000001 # Actual altitude: 56.9802710000001 # Commanded vehicle depth:1566.340346 # Seafloor depth:-1623.320617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1613.139053 meters looking forward 100.000000 meters along route # Maximum depth: 1616.734721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.139053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693594; longitude = -122.042097; captureRadius = 10; duration = 84; initialDepth = 1564.556847; finalDepth = 1563.139053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9802710000001 # Actual altitude: 56.9802710000001 # Commanded vehicle depth:1563.139053 # Seafloor depth:-1616.339326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1614.556847 meters looking forward 100.000000 meters along route # Maximum depth: 1616.453438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.556847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693778; longitude = -122.041201; captureRadius = 10; duration = 84; initialDepth = 1565.181691; finalDepth = 1564.556847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2002729999999 # Actual altitude: 53.2002729999999 # Commanded vehicle depth:1564.556847 # Seafloor depth:-1615.246412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1615.181691 meters looking forward 100.000000 meters along route # Maximum depth: 1619.695023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.181691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693963; longitude = -122.040304; captureRadius = 10; duration = 84; initialDepth = 1568.526217; finalDepth = 1565.181691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5222409999999 # Actual altitude: 51.5222409999999 # Commanded vehicle depth:1565.181691 # Seafloor depth:-1616.703932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1618.526217 meters looking forward 100.000000 meters along route # Maximum depth: 1623.474894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.526217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694147; longitude = -122.039408; captureRadius = 10; duration = 84; initialDepth = 1564.149577; finalDepth = 1568.526217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0616289999998 # Actual altitude: 52.0616289999998 # Commanded vehicle depth:1568.526217 # Seafloor depth:-1620.587846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1614.149577 meters looking forward 100.000000 meters along route # Maximum depth: 1618.769358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.149577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694332; longitude = -122.038512; captureRadius = 10; duration = 84; initialDepth = 1562.483328; finalDepth = 1564.149577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6225930000001 # Actual altitude: 53.6225930000001 # Commanded vehicle depth:1564.149577 # Seafloor depth:-1617.772170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1612.483328 meters looking forward 100.000000 meters along route # Maximum depth: 1615.615396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.483328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694516; longitude = -122.037616; captureRadius = 10; duration = 84; initialDepth = 1556.799587; finalDepth = 1562.483328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6225930000001 # Actual altitude: 53.6225930000001 # Commanded vehicle depth:1562.483328 # Seafloor depth:-1615.296980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1606.799587 meters looking forward 100.000000 meters along route # Maximum depth: 1612.536737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.799587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694701; longitude = -122.036719; captureRadius = 10; duration = 84; initialDepth = 1555.875563; finalDepth = 1556.799587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.013103 # Actual altitude: 55.013103 # Commanded vehicle depth:1556.799587 # Seafloor depth:-1611.812690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1605.875563 meters looking forward 100.000000 meters along route # Maximum depth: 1607.078309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.875563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694885; longitude = -122.035823; captureRadius = 10; duration = 84; initialDepth = 1551.783207; finalDepth = 1555.875563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.013103 # Actual altitude: 55.013103 # Commanded vehicle depth:1555.875563 # Seafloor depth:-1606.188256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1601.783207 meters looking forward 100.000000 meters along route # Maximum depth: 1606.020144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.783207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695070; longitude = -122.034927; captureRadius = 10; duration = 84; initialDepth = 1545.500127; finalDepth = 1551.783207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7959470000001 # Actual altitude: 53.7959470000001 # Commanded vehicle depth:1551.783207 # Seafloor depth:-1605.579154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1595.500127 meters looking forward 100.000000 meters along route # Maximum depth: 1602.312662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.500127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695254; longitude = -122.034031; captureRadius = 10; duration = 84; initialDepth = 1539.829323; finalDepth = 1545.500127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6169580000001 # Actual altitude: 55.6169580000001 # Commanded vehicle depth:1545.500127 # Seafloor depth:-1601.117085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1589.829323 meters looking forward 100.000000 meters along route # Maximum depth: 1595.500127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.829323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695439; longitude = -122.033134; captureRadius = 10; duration = 84; initialDepth = 1538.067460; finalDepth = 1539.829323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6169580000001 # Actual altitude: 55.6169580000001 # Commanded vehicle depth:1539.829323 # Seafloor depth:-1594.740790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1588.067460 meters looking forward 100.000000 meters along route # Maximum depth: 1590.584323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.067460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695623; longitude = -122.032238; captureRadius = 10; duration = 84; initialDepth = 1531.363553; finalDepth = 1538.067460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9114670000001 # Actual altitude: 54.9114670000001 # Commanded vehicle depth:1538.06746 # Seafloor depth:-1590.183757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1581.363553 meters looking forward 100.000000 meters along route # Maximum depth: 1588.149479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.363553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695808; longitude = -122.031342; captureRadius = 10; duration = 84; initialDepth = 1526.176236; finalDepth = 1531.363553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9904290000002 # Actual altitude: 55.9904290000002 # Commanded vehicle depth:1531.363553 # Seafloor depth:-1587.353982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1576.176236 meters looking forward 100.000000 meters along route # Maximum depth: 1581.363553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.176236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695992; longitude = -122.030446; captureRadius = 10; duration = 84; initialDepth = 1522.515438; finalDepth = 1526.176236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9904290000002 # Actual altitude: 55.9904290000002 # Commanded vehicle depth:1526.176236 # Seafloor depth:-1580.436319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.477679 meters # Minimum depth: 1572.515438 meters looking forward 100.000000 meters along route # Maximum depth: 1576.176236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.515438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696177; longitude = -122.029550; captureRadius = 10; duration = 84; initialDepth = 1521.947866; finalDepth = 1522.515438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2600829999999 # Actual altitude: 54.2600829999999 # Commanded vehicle depth:1522.515438 # Seafloor depth:-1575.661726 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 84.477679 meters # Minimum depth: 1571.947866 meters looking forward 100.000000 meters along route # Maximum depth: 1574.867062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.947866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696358; longitude = -122.028670; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1520.243937; finalDepth = 1521.947866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1462880000001 # Actual altitude: 53.1462880000001 # Commanded vehicle depth:1521.947866 # Seafloor depth:-1572.715149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1570.243937 meters looking forward 100.000000 meters along route # Maximum depth: 1573.535808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.243937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.028071; captureRadius = 10; duration = 84; initialDepth = 1507.101557; finalDepth = 1520.243937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5996660000001 # Actual altitude: 51.5996660000001 # Commanded vehicle depth:1520.243937 # Seafloor depth:-1571.843603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1557.101557 meters looking forward 100.000000 meters along route # Maximum depth: 1571.886926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.101557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.027350; captureRadius = 10; duration = 84; initialDepth = 1501.160234; finalDepth = 1507.101557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8320659999999 # Actual altitude: 61.8320659999999 # Commanded vehicle depth:1507.101557 # Seafloor depth:-1568.933623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1551.160234 meters looking forward 100.000000 meters along route # Maximum depth: 1559.573407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.026629; captureRadius = 10; duration = 84; initialDepth = 1501.160234; finalDepth = 1501.160234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8320659999999 # Actual altitude: 61.8320659999999 # Commanded vehicle depth:1501.160234 # Seafloor depth:-1557.022315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1551.160234 meters looking forward 100.000000 meters along route # Maximum depth: 1562.178516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.025909; captureRadius = 10; duration = 84; initialDepth = 1508.208472; finalDepth = 1501.160234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.862081 # Actual altitude: 55.862081 # Commanded vehicle depth:1501.160234 # Seafloor depth:-1552.334577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1558.208472 meters looking forward 100.000000 meters along route # Maximum depth: 1562.178516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.208472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698103; longitude = -122.025180; captureRadius = 10; duration = 84; initialDepth = 1504.309845; finalDepth = 1508.208472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.859704 # Actual altitude: 53.859704 # Commanded vehicle depth:1508.208472 # Seafloor depth:-1562.068176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1554.309845 meters looking forward 100.000000 meters along route # Maximum depth: 1559.077767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.309845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.024467; captureRadius = 10; duration = 84; initialDepth = 1493.432953; finalDepth = 1504.309845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.859704 # Actual altitude: 53.859704 # Commanded vehicle depth:1504.309845 # Seafloor depth:-1557.991535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1543.432953 meters looking forward 100.000000 meters along route # Maximum depth: 1555.579289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.432953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.023746; captureRadius = 10; duration = 84; initialDepth = 1491.978757; finalDepth = 1493.432953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5098680000001 # Actual altitude: 59.5098680000001 # Commanded vehicle depth:1493.432953 # Seafloor depth:-1552.942821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 238.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1541.978757 meters looking forward 100.000000 meters along route # Maximum depth: 1544.623753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.978757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.023026; captureRadius = 10; duration = 84; initialDepth = 1491.630117; finalDepth = 1491.978757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5098680000001 # Actual altitude: 59.5098680000001 # Commanded vehicle depth:1491.978757 # Seafloor depth:-1543.616909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 238.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.477679 meters # Minimum depth: 1541.630117 meters looking forward 100.000000 meters along route # Maximum depth: 1543.975688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.630117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699560; longitude = -122.022268; captureRadius = 10; duration = 84; initialDepth = 1489.203237; finalDepth = 1491.630117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.638152 # Actual altitude: 51.638152 # Commanded vehicle depth:1491.630117 # Seafloor depth:-1542.158835 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 84.477679 meters # Minimum depth: 1539.203237 meters looking forward 100.000000 meters along route # Maximum depth: 1543.975688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.203237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699920; longitude = -122.021548; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1482.356888; finalDepth = 1489.203237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7872110000001 # Actual altitude: 51.7872110000001 # Commanded vehicle depth:1489.203237 # Seafloor depth:-1540.990448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.477679 meters # Minimum depth: 1532.356888 meters looking forward 100.000000 meters along route # Maximum depth: 1541.395549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.356888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700172; longitude = -122.021258; captureRadius = 10; duration = 84; initialDepth = 1474.037038; finalDepth = 1482.356888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5550659999999 # Actual altitude: 57.5550659999999 # Commanded vehicle depth:1482.356888 # Seafloor depth:-1539.911954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 230.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.477679 meters # Minimum depth: 1524.037038 meters looking forward 100.000000 meters along route # Maximum depth: 1534.096317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.037038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700755; longitude = -122.020587; captureRadius = 10; duration = 84; initialDepth = 1469.806033; finalDepth = 1474.037038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0292180000001 # Actual altitude: 58.0292180000001 # Commanded vehicle depth:1474.037038 # Seafloor depth:-1532.066256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.477679 meters # Minimum depth: 1519.806033 meters looking forward 100.000000 meters along route # Maximum depth: 1524.116982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.806033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.020013; captureRadius = 10; duration = 84; initialDepth = 1463.830960; finalDepth = 1469.806033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0292180000001 # Actual altitude: 58.0292180000001 # Commanded vehicle depth:1469.806033 # Seafloor depth:-1523.987503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.477679 meters # Minimum depth: 1513.830960 meters looking forward 100.000000 meters along route # Maximum depth: 1521.058118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.830960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701826; longitude = -122.019355; captureRadius = 10; duration = 84; initialDepth = 1463.923204; finalDepth = 1463.830960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3584800000001 # Actual altitude: 55.3584800000001 # Commanded vehicle depth:1463.83096 # Seafloor depth:-1519.189440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.477679 meters # Minimum depth: 1513.923204 meters looking forward 100.000000 meters along route # Maximum depth: 1515.755254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.923204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.018769; captureRadius = 10; duration = 84; initialDepth = 1462.924084; finalDepth = 1463.923204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3584800000001 # Actual altitude: 55.3584800000001 # Commanded vehicle depth:1463.923204 # Seafloor depth:-1514.696230 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 84.477679 meters # Minimum depth: 1512.924084 meters looking forward 100.000000 meters along route # Maximum depth: 1517.307587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.924084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.018134; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1458.864197; finalDepth = 1462.924084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.383503 # Actual altitude: 54.383503 # Commanded vehicle depth:1462.924084 # Seafloor depth:-1517.307587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.477679 meters # Minimum depth: 1508.864197 meters looking forward 100.000000 meters along route # Maximum depth: 1512.998982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.864197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703236; longitude = -122.017833; captureRadius = 10; duration = 84; initialDepth = 1447.376832; finalDepth = 1458.864197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.383503 # Actual altitude: 54.383503 # Commanded vehicle depth:1458.864197 # Seafloor depth:-1512.643542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.477679 meters # Minimum depth: 1497.376832 meters looking forward 100.000000 meters along route # Maximum depth: 1510.805069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.376832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703809; longitude = -122.017338; captureRadius = 10; duration = 84; initialDepth = 1428.516605; finalDepth = 1447.376832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5499170000001 # Actual altitude: 60.5499170000001 # Commanded vehicle depth:1447.376832 # Seafloor depth:-1507.926749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.477679 meters # Minimum depth: 1478.516605 meters looking forward 100.000000 meters along route # Maximum depth: 1497.710902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.516605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704408; longitude = -122.016821; captureRadius = 10; duration = 84; initialDepth = 1428.516605; finalDepth = 1428.516605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9388630000001 # Actual altitude: 65.9388630000001 # Commanded vehicle depth:1428.516605 # Seafloor depth:-1494.455468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.477679 meters # Minimum depth: 1478.516605 meters looking forward 100.000000 meters along route # Maximum depth: 1482.455136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.516605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704976; longitude = -122.016330; captureRadius = 10; duration = 84; initialDepth = 1425.150441; finalDepth = 1428.516605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9388630000001 # Actual altitude: 65.9388630000001 # Commanded vehicle depth:1428.516605 # Seafloor depth:-1481.306333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.477679 meters # Minimum depth: 1475.150441 meters looking forward 100.000000 meters along route # Maximum depth: 1479.465743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.150441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705579; longitude = -122.015810; captureRadius = 10; duration = 84; initialDepth = 1423.978455; finalDepth = 1425.150441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.271045 # Actual altitude: 54.271045 # Commanded vehicle depth:1425.150441 # Seafloor depth:-1479.421486 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 84.477679 meters # Minimum depth: 1473.978455 meters looking forward 100.000000 meters along route # Maximum depth: 1478.116689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.978455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706152; longitude = -122.015315; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1417.935230; finalDepth = 1423.978455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.271045 # Actual altitude: 54.271045 # Commanded vehicle depth:1423.978455 # Seafloor depth:-1473.978455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1467.935230 meters looking forward 100.000000 meters along route # Maximum depth: 1474.818607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.935230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.015070; captureRadius = 10; duration = 84; initialDepth = 1411.485429; finalDepth = 1417.935230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5170719999999 # Actual altitude: 56.5170719999999 # Commanded vehicle depth:1417.93523 # Seafloor depth:-1474.452302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1461.485429 meters looking forward 100.000000 meters along route # Maximum depth: 1468.849192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.485429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707291; longitude = -122.014765; captureRadius = 10; duration = 84; initialDepth = 1403.547039; finalDepth = 1411.485429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5170719999999 # Actual altitude: 56.5170719999999 # Commanded vehicle depth:1411.485429 # Seafloor depth:-1467.369042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1453.547039 meters looking forward 100.000000 meters along route # Maximum depth: 1463.049923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.547039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707922; longitude = -122.014461; captureRadius = 10; duration = 84; initialDepth = 1394.619242; finalDepth = 1403.547039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.118526 # Actual altitude: 57.118526 # Commanded vehicle depth:1403.547039 # Seafloor depth:-1460.665565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1444.619242 meters looking forward 100.000000 meters along route # Maximum depth: 1455.181125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.619242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708553; longitude = -122.014156; captureRadius = 10; duration = 84; initialDepth = 1390.111650; finalDepth = 1394.619242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5618830000001 # Actual altitude: 60.5618830000001 # Commanded vehicle depth:1394.619242 # Seafloor depth:-1455.181125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1440.111650 meters looking forward 100.000000 meters along route # Maximum depth: 1445.399489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.111650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.013852; captureRadius = 10; duration = 84; initialDepth = 1381.521930; finalDepth = 1390.111650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5618830000001 # Actual altitude: 60.5618830000001 # Commanded vehicle depth:1390.11165 # Seafloor depth:-1445.399489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.477679 meters # Minimum depth: 1431.521930 meters looking forward 100.000000 meters along route # Maximum depth: 1441.612567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.521930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709815; longitude = -122.013547; captureRadius = 10; duration = 84; initialDepth = 1381.521930; finalDepth = 1381.521930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2971249999998 # Actual altitude: 56.2971249999998 # Commanded vehicle depth:1381.52193 # Seafloor depth:-1437.819055 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 84.477679 meters # Minimum depth: 1431.521930 meters looking forward 100.000000 meters along route # Maximum depth: 1436.119390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.521930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710455; longitude = -122.013238; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1385.513579; finalDepth = 1381.521930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2971249999998 # Actual altitude: 56.2971249999998 # Commanded vehicle depth:1381.52193 # Seafloor depth:-1432.367432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.477679 meters # Minimum depth: 1435.513579 meters looking forward 100.000000 meters along route # Maximum depth: 1447.461825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.513579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710925; longitude = -122.013081; captureRadius = 10; duration = 84; initialDepth = 1396.315088; finalDepth = 1385.513579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8455019999999 # Actual altitude: 50.8455019999999 # Commanded vehicle depth:1385.513579 # Seafloor depth:-1436.339821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.477679 meters # Minimum depth: 1446.315088 meters looking forward 100.000000 meters along route # Maximum depth: 1456.797711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.315088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.012851; captureRadius = 10; duration = 84; initialDepth = 1406.587173; finalDepth = 1396.315088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456365 # Actual altitude: 51.456365 # Commanded vehicle depth:1396.315088 # Seafloor depth:-1447.771453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.477679 meters # Minimum depth: 1456.587173 meters looking forward 100.000000 meters along route # Maximum depth: 1460.258241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.587173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712338; longitude = -122.012610; captureRadius = 10; duration = 84; initialDepth = 1407.758336; finalDepth = 1406.587173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456365 # Actual altitude: 51.456365 # Commanded vehicle depth:1406.587173 # Seafloor depth:-1457.381677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.477679 meters # Minimum depth: 1457.758336 meters looking forward 100.000000 meters along route # Maximum depth: 1460.324258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.758336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.012370; captureRadius = 10; duration = 84; initialDepth = 1403.465824; finalDepth = 1407.758336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9644289999999 # Actual altitude: 50.9644289999999 # Commanded vehicle depth:1407.758336 # Seafloor depth:-1458.722765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.477679 meters # Minimum depth: 1453.465824 meters looking forward 100.000000 meters along route # Maximum depth: 1458.088898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.465824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.012130; captureRadius = 10; duration = 84; initialDepth = 1398.350566; finalDepth = 1403.465824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.300888 # Actual altitude: 54.300888 # Commanded vehicle depth:1403.465824 # Seafloor depth:-1457.766712 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 84.477679 meters # Minimum depth: 1448.350566 meters looking forward 100.000000 meters along route # Maximum depth: 1457.640440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.350566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714462; longitude = -122.011902; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1390.269345; finalDepth = 1398.350566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.300888 # Actual altitude: 54.300888 # Commanded vehicle depth:1398.350566 # Seafloor depth:-1452.514099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1440.269345 meters looking forward 100.000000 meters along route # Maximum depth: 1449.771023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.269345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714771; longitude = -122.011778; captureRadius = 10; duration = 84; initialDepth = 1381.089524; finalDepth = 1390.269345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2179700000002 # Actual altitude: 57.2179700000002 # Commanded vehicle depth:1390.269345 # Seafloor depth:-1447.487315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.87; 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 = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1431.089524 meters looking forward 100.000000 meters along route # Maximum depth: 1440.934265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.089524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715435; longitude = -122.011513; captureRadius = 10; duration = 84; initialDepth = 1379.948363; finalDepth = 1381.089524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1284599999999 # Actual altitude: 59.1284599999999 # Commanded vehicle depth:1381.089524 # Seafloor depth:-1440.217984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1429.948363 meters looking forward 100.000000 meters along route # Maximum depth: 1433.280674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.948363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716123; longitude = -122.011238; captureRadius = 10; duration = 84; initialDepth = 1376.634817; finalDepth = 1379.948363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1284599999999 # Actual altitude: 59.1284599999999 # Commanded vehicle depth:1379.948363 # Seafloor depth:-1431.614541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1426.634817 meters looking forward 100.000000 meters along route # Maximum depth: 1430.418437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.634817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716844; longitude = -122.010949; captureRadius = 10; duration = 84; initialDepth = 1371.807441; finalDepth = 1376.634817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2689919999998 # Actual altitude: 53.2689919999998 # Commanded vehicle depth:1376.634817 # Seafloor depth:-1429.903809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1421.807441 meters looking forward 100.000000 meters along route # Maximum depth: 1427.674377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.807441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717564; longitude = -122.010661; captureRadius = 10; duration = 84; initialDepth = 1367.730537; finalDepth = 1371.807441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.62482 # Actual altitude: 53.62482 # Commanded vehicle depth:1371.807441 # Seafloor depth:-1425.432261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.477679 meters # Minimum depth: 1417.730537 meters looking forward 100.000000 meters along route # Maximum depth: 1422.305352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.730537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718235; longitude = -122.010393; captureRadius = 10; duration = 84; initialDepth = 1362.195714; finalDepth = 1367.730537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6975970000001 # Actual altitude: 53.6975970000001 # Commanded vehicle depth:1367.730537 # Seafloor depth:-1421.428134 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 84.477679 meters # Minimum depth: 1412.195714 meters looking forward 100.000000 meters along route # Maximum depth: 1418.193694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.195714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718914; longitude = -122.010121; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1358.282310; finalDepth = 1362.195714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576137 # Actual altitude: 54.576137 # Commanded vehicle depth:1362.195714 # Seafloor depth:-1416.771851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.477679 meters # Minimum depth: 1408.282310 meters looking forward 100.000000 meters along route # Maximum depth: 1412.704767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.282310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719457; longitude = -122.010031; captureRadius = 10; duration = 84; initialDepth = 1352.649682; finalDepth = 1358.282310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576137 # Actual altitude: 54.576137 # Commanded vehicle depth:1358.28231 # Seafloor depth:-1411.346887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.477679 meters # Minimum depth: 1402.649682 meters looking forward 100.000000 meters along route # Maximum depth: 1408.282310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.649682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720178; longitude = -122.009910; captureRadius = 10; duration = 84; initialDepth = 1337.086097; finalDepth = 1352.649682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7111299999999 # Actual altitude: 54.7111299999999 # Commanded vehicle depth:1352.649682 # Seafloor depth:-1407.360812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.477679 meters # Minimum depth: 1387.086097 meters looking forward 100.000000 meters along route # Maximum depth: 1402.705749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.086097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720899; longitude = -122.009790; captureRadius = 10; duration = 84; initialDepth = 1334.608398; finalDepth = 1337.086097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0839839999999 # Actual altitude: 64.0839839999999 # Commanded vehicle depth:1337.086097 # Seafloor depth:-1401.170081 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 256.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 84.477679 meters # Minimum depth: 1384.608398 meters looking forward 100.000000 meters along route # Maximum depth: 1394.385495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.608398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721585; longitude = -122.009676; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1338.124090; finalDepth = 1334.608398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0839839999999 # Actual altitude: 64.0839839999999 # Commanded vehicle depth:1334.608398 # Seafloor depth:-1384.608398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 256.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1388.124090 meters looking forward 100.000000 meters along route # Maximum depth: 1400.549776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.124090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721890; longitude = -122.009959; captureRadius = 10; duration = 84; initialDepth = 1349.758903; finalDepth = 1338.124090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8042189999999 # Actual altitude: 51.8042189999999 # Commanded vehicle depth:1338.12409 # Seafloor depth:-1389.928309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1399.758903 meters looking forward 100.000000 meters along route # Maximum depth: 1401.909429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.758903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722521; longitude = -122.010545; captureRadius = 10; duration = 84; initialDepth = 1330.837915; finalDepth = 1349.758903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8042189999999 # Actual altitude: 51.8042189999999 # Commanded vehicle depth:1349.758903 # Seafloor depth:-1401.080209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1380.837915 meters looking forward 100.000000 meters along route # Maximum depth: 1400.320473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.837915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723080; longitude = -122.011065; captureRadius = 10; duration = 84; initialDepth = 1296.661492; finalDepth = 1330.837915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.710605 # Actual altitude: 68.710605 # Commanded vehicle depth:1330.837915 # Seafloor depth:-1399.548520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.48; MB_Bottom_Detect_Filter_Max_Range = 274.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1346.661492 meters looking forward 100.000000 meters along route # Maximum depth: 1383.526713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.661492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723692; longitude = -122.011633; captureRadius = 10; duration = 84; initialDepth = 1279.880332; finalDepth = 1296.661492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9278650000001 # Actual altitude: 83.9278650000001 # Commanded vehicle depth:1296.661492 # Seafloor depth:-1380.589357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 335.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1329.880332 meters looking forward 100.000000 meters along route # Maximum depth: 1350.865176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1279.880332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724323; longitude = -122.012219; captureRadius = 10; duration = 84; initialDepth = 1255.417588; finalDepth = 1279.880332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9278650000001 # Actual altitude: 83.9278650000001 # Commanded vehicle depth:1279.880332 # Seafloor depth:-1344.414706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 335.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1305.417588 meters looking forward 100.000000 meters along route # Maximum depth: 1334.237648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.417588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724890; longitude = -122.012745; captureRadius = 10; duration = 84; initialDepth = 1216.454123; finalDepth = 1255.417588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4483210000001 # Actual altitude: 73.4483210000001 # Commanded vehicle depth:1255.417588 # Seafloor depth:-1328.865909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 293.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1266.454123 meters looking forward 100.000000 meters along route # Maximum depth: 1313.759416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.454123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725493; longitude = -122.013305; captureRadius = 10; duration = 84; initialDepth = 1204.841142; finalDepth = 1216.454123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9898680000001 # Actual altitude: 79.9898680000001 # Commanded vehicle depth:1216.454123 # Seafloor depth:-1296.443991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 319.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1254.841142 meters looking forward 100.000000 meters along route # Maximum depth: 1267.518597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.841142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726035; longitude = -122.013808; captureRadius = 10; duration = 84; initialDepth = 1205.152970; finalDepth = 1204.841142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9898680000001 # Actual altitude: 79.9898680000001 # Commanded vehicle depth:1204.841142 # Seafloor depth:-1264.525914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 319.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1255.152970 meters looking forward 100.000000 meters along route # Maximum depth: 1263.805711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.152970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726579; longitude = -122.014314; captureRadius = 10; duration = 84; initialDepth = 1213.489127; finalDepth = 1205.152970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.6847720000001 # Actual altitude: 59.6847720000001 # Commanded vehicle depth:1205.15297 # Seafloor depth:-1257.498623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 238.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.477679 meters # Minimum depth: 1263.489127 meters looking forward 100.000000 meters along route # Maximum depth: 1275.612331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.489127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727207; longitude = -122.014896; captureRadius = 10; duration = 84; initialDepth = 1213.489127; finalDepth = 1213.489127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3456529999999 # Actual altitude: 52.3456529999999 # Commanded vehicle depth:1213.489127 # Seafloor depth:-1263.954104 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 84.477679 meters # Minimum depth: 1263.489127 meters looking forward 100.000000 meters along route # Maximum depth: 1278.940735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.489127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727817; longitude = -122.015463; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1184.410917; finalDepth = 1213.489127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4516079999999 # Actual altitude: 65.4516079999999 # Commanded vehicle depth:1213.489127 # Seafloor depth:-1278.940735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 261.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1234.410917 meters looking forward 100.000000 meters along route # Maximum depth: 1278.940735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.410917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727838; longitude = -122.015416; captureRadius = 10; duration = 84; initialDepth = 1156.883439; finalDepth = 1184.410917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8774030000002 # Actual altitude: 88.8774030000002 # Commanded vehicle depth:1184.410917 # Seafloor depth:-1273.288320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1206.883439 meters looking forward 100.000000 meters along route # Maximum depth: 1236.434821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.883439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728169; longitude = -122.014650; captureRadius = 10; duration = 84; initialDepth = 1137.777742; finalDepth = 1156.883439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8774030000002 # Actual altitude: 88.8774030000002 # Commanded vehicle depth:1156.883439 # Seafloor depth:-1228.963803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1187.777742 meters looking forward 100.000000 meters along route # Maximum depth: 1207.653806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.777742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728508; longitude = -122.013865; captureRadius = 10; duration = 84; initialDepth = 1135.680761; finalDepth = 1137.777742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0803640000001 # Actual altitude: 72.0803640000001 # Commanded vehicle depth:1137.777742 # Seafloor depth:-1203.549013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.83; MB_Bottom_Detect_Filter_Max_Range = 288.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1185.680761 meters looking forward 100.000000 meters along route # Maximum depth: 1200.261983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.680761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728847; longitude = -122.013081; captureRadius = 10; duration = 84; initialDepth = 1102.237370; finalDepth = 1135.680761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7712710000001 # Actual altitude: 65.7712710000001 # Commanded vehicle depth:1135.680761 # Seafloor depth:-1187.210671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 263.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1152.237370 meters looking forward 100.000000 meters along route # Maximum depth: 1195.693420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.237370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729189; longitude = -122.012291; captureRadius = 10; duration = 84; initialDepth = 1093.039419; finalDepth = 1102.237370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.062993 # Actual altitude: 86.062993 # Commanded vehicle depth:1102.23737 # Seafloor depth:-1188.300363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 344.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1143.039419 meters looking forward 100.000000 meters along route # Maximum depth: 1153.516088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.039419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729526; longitude = -122.011513; captureRadius = 10; duration = 84; initialDepth = 1072.927359; finalDepth = 1093.039419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.062993 # Actual altitude: 86.062993 # Commanded vehicle depth:1093.039419 # Seafloor depth:-1149.391672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 344.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.477679 meters # Minimum depth: 1122.927359 meters looking forward 100.000000 meters along route # Maximum depth: 1144.650666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.927359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729865; longitude = -122.010729; captureRadius = 10; duration = 84; initialDepth = 1072.226349; finalDepth = 1072.927359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3019830000001 # Actual altitude: 67.3019830000001 # Commanded vehicle depth:1072.927359 # Seafloor depth:-1140.229342 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 84.477679 meters # Minimum depth: 1122.226349 meters looking forward 100.000000 meters along route # Maximum depth: 1138.369954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.226349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730192; longitude = -122.009973; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1083.825509; finalDepth = 1072.226349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3019830000001 # Actual altitude: 67.3019830000001 # Commanded vehicle depth:1072.226349 # Seafloor depth:-1122.226349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 1133.825509 meters looking forward 100.000000 meters along route # Maximum depth: 1140.697462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.825509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730361; longitude = -122.009399; captureRadius = 10; duration = 84; initialDepth = 1071.141796; finalDepth = 1083.825509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.645796 # Actual altitude: 54.645796 # Commanded vehicle depth:1083.825509 # Seafloor depth:-1138.471305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 1121.141796 meters looking forward 100.000000 meters along route # Maximum depth: 1140.327955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.141796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730596; longitude = -122.008600; captureRadius = 10; duration = 84; initialDepth = 1018.780243; finalDepth = 1071.141796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9204249999998 # Actual altitude: 66.9204249999998 # Commanded vehicle depth:1071.141796 # Seafloor depth:-1138.062221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 267.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 1068.780243 meters looking forward 100.000000 meters along route # Maximum depth: 1121.141796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.780243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730859; longitude = -122.007704; captureRadius = 10; duration = 84; initialDepth = 968.134887; finalDepth = 1018.780243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.2758160000001 # Actual altitude: 98.2758160000001 # Commanded vehicle depth:1018.780243 # Seafloor depth:-1117.056059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 1018.134887 meters looking forward 100.000000 meters along route # Maximum depth: 1072.325186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.134887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731123; longitude = -122.006808; captureRadius = 10; duration = 84; initialDepth = 947.435391; finalDepth = 968.134887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.2758160000001 # Actual altitude: 98.2758160000001 # Commanded vehicle depth:968.134887 # Seafloor depth:-1058.427197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 997.435391 meters looking forward 100.000000 meters along route # Maximum depth: 1018.761781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.435391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731387; longitude = -122.005911; captureRadius = 10; duration = 84; initialDepth = 899.467946; finalDepth = 947.435391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2923099999999 # Actual altitude: 90.2923099999999 # Commanded vehicle depth:947.435391 # Seafloor depth:-1006.560551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 949.467946 meters looking forward 100.000000 meters along route # Maximum depth: 998.735523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.467946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731650; longitude = -122.005015; captureRadius = 10; duration = 84; initialDepth = 853.229014; finalDepth = 899.467946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.386652 # Actual altitude: 90.386652 # Commanded vehicle depth:899.467946 # Seafloor depth:-989.854598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 903.229014 meters looking forward 100.000000 meters along route # Maximum depth: 950.961124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.229014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731914; longitude = -122.004119; captureRadius = 10; duration = 84; initialDepth = 808.924215; finalDepth = 853.229014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.128948 # Actual altitude: 93.128948 # Commanded vehicle depth:853.229014 # Seafloor depth:-946.357962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.25; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.477679 meters # Minimum depth: 858.924215 meters looking forward 100.000000 meters along route # Maximum depth: 910.655862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.924215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732178; longitude = -122.003223; captureRadius = 10; duration = 84; initialDepth = 791.097260; finalDepth = 808.924215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.177169 # Actual altitude: 93.177169 # Commanded vehicle depth:808.924215 # Seafloor depth:-902.101384 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 84.477679 meters # Minimum depth: 841.097260 meters looking forward 100.000000 meters along route # Maximum depth: 868.207168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.097260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732418; longitude = -122.002405; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 753.745173; finalDepth = 791.097260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.177169 # Actual altitude: 93.177169 # Commanded vehicle depth:791.09726 # Seafloor depth:-858.037018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 803.745173 meters looking forward 100.000000 meters along route # Maximum depth: 841.097260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.745173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732457; longitude = -122.001654; captureRadius = 10; duration = 84; initialDepth = 727.567578; finalDepth = 753.745173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6494739999999 # Actual altitude: 79.6494739999999 # Commanded vehicle depth:753.745173 # Seafloor depth:-833.394647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 318.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 777.567578 meters looking forward 100.000000 meters along route # Maximum depth: 803.745173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.567578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732505; longitude = -122.000758; captureRadius = 10; duration = 84; initialDepth = 706.037118; finalDepth = 727.567578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6494739999999 # Actual altitude: 79.6494739999999 # Commanded vehicle depth:727.567578 # Seafloor depth:-800.128520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 318.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 756.037118 meters looking forward 100.000000 meters along route # Maximum depth: 777.567578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.037118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732552; longitude = -121.999862; captureRadius = 10; duration = 84; initialDepth = 690.598073; finalDepth = 706.037118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.560942 # Actual altitude: 72.560942 # Commanded vehicle depth:706.037118 # Seafloor depth:-775.117766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 290.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 740.598073 meters looking forward 100.000000 meters along route # Maximum depth: 756.037118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.598073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732599; longitude = -121.998966; captureRadius = 10; duration = 84; initialDepth = 671.308282; finalDepth = 690.598073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.080648 # Actual altitude: 69.080648 # Commanded vehicle depth:690.598073 # Seafloor depth:-752.667295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.63; MB_Bottom_Detect_Filter_Max_Range = 276.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 721.308282 meters looking forward 100.000000 meters along route # Maximum depth: 740.598073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.308282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732646; longitude = -121.998069; captureRadius = 10; duration = 84; initialDepth = 658.592675; finalDepth = 671.308282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3634900000001 # Actual altitude: 64.3634900000001 # Commanded vehicle depth:671.308282 # Seafloor depth:-735.671772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 257.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 708.592675 meters looking forward 100.000000 meters along route # Maximum depth: 721.308282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.592675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732693; longitude = -121.997173; captureRadius = 10; duration = 84; initialDepth = 647.251942; finalDepth = 658.592675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3634900000001 # Actual altitude: 64.3634900000001 # Commanded vehicle depth:658.592675 # Seafloor depth:-719.188443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 257.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 697.251942 meters looking forward 100.000000 meters along route # Maximum depth: 708.592675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.251942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732740; longitude = -121.996277; captureRadius = 10; duration = 84; initialDepth = 635.214060; finalDepth = 647.251942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.595768 # Actual altitude: 60.595768 # Commanded vehicle depth:647.251942 # Seafloor depth:-706.000632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 242.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 685.214060 meters looking forward 100.000000 meters along route # Maximum depth: 697.251942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.214060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732788; longitude = -121.995381; captureRadius = 10; duration = 84; initialDepth = 624.663564; finalDepth = 635.214060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.970644 # Actual altitude: 60.970644 # Commanded vehicle depth:635.21406 # Seafloor depth:-696.184704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 243.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 674.663564 meters looking forward 100.000000 meters along route # Maximum depth: 685.214060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.663564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732835; longitude = -121.994484; captureRadius = 10; duration = 84; initialDepth = 613.597848; finalDepth = 624.663564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.970644 # Actual altitude: 60.970644 # Commanded vehicle depth:624.663564 # Seafloor depth:-684.266339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 243.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 663.597848 meters looking forward 100.000000 meters along route # Maximum depth: 676.498717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.597848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732884; longitude = -121.993548; captureRadius = 10; duration = 84; initialDepth = 599.822440; finalDepth = 613.597848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6245720000001 # Actual altitude: 60.6245720000001 # Commanded vehicle depth:613.597848 # Seafloor depth:-674.222420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 649.822440 meters looking forward 100.000000 meters along route # Maximum depth: 663.597848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.822440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732929; longitude = -121.992692; captureRadius = 10; duration = 84; initialDepth = 587.747356; finalDepth = 599.822440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.92887 # Actual altitude: 60.92887 # Commanded vehicle depth:599.82244 # Seafloor depth:-660.751310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 243.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 637.747356 meters looking forward 100.000000 meters along route # Maximum depth: 650.849066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.747356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732976; longitude = -121.991796; captureRadius = 10; duration = 84; initialDepth = 576.559253; finalDepth = 587.747356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.57088 # Actual altitude: 61.57088 # Commanded vehicle depth:587.747356 # Seafloor depth:-649.318236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 246.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 626.559253 meters looking forward 100.000000 meters along route # Maximum depth: 637.747356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.559253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733023; longitude = -121.990899; captureRadius = 10; duration = 84; initialDepth = 564.179207; finalDepth = 576.559253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.57088 # Actual altitude: 61.57088 # Commanded vehicle depth:576.559253 # Seafloor depth:-637.366148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 246.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 614.179207 meters looking forward 100.000000 meters along route # Maximum depth: 626.649681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.179207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733070; longitude = -121.990003; captureRadius = 10; duration = 84; initialDepth = 551.935396; finalDepth = 564.179207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8068949999999 # Actual altitude: 60.8068949999999 # Commanded vehicle depth:564.179207 # Seafloor depth:-624.394357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.32; MB_Bottom_Detect_Filter_Max_Range = 243.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 601.935396 meters looking forward 100.000000 meters along route # Maximum depth: 614.179207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.935396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733118; longitude = -121.989107; captureRadius = 10; duration = 84; initialDepth = 535.255509; finalDepth = 551.935396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.544577 # Actual altitude: 60.544577 # Commanded vehicle depth:551.935396 # Seafloor depth:-612.479973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 585.255509 meters looking forward 100.000000 meters along route # Maximum depth: 604.192923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.255509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733165; longitude = -121.988211; captureRadius = 10; duration = 84; initialDepth = 508.905346; finalDepth = 535.255509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.767687 # Actual altitude: 62.767687 # Commanded vehicle depth:535.255509 # Seafloor depth:-598.023196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 558.905346 meters looking forward 100.000000 meters along route # Maximum depth: 585.550868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.905346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733212; longitude = -121.987314; captureRadius = 10; duration = 84; initialDepth = 479.529928; finalDepth = 508.905346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.380538 # Actual altitude: 72.380538 # Commanded vehicle depth:508.905346 # Seafloor depth:-581.285884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.95; MB_Bottom_Detect_Filter_Max_Range = 289.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.477679 meters # Minimum depth: 529.529928 meters looking forward 100.000000 meters along route # Maximum depth: 558.905346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.529928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733259; longitude = -121.986418; captureRadius = 10; duration = 84; initialDepth = 469.414999; finalDepth = 479.529928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8892069999999 # Actual altitude: 73.8892069999999 # Commanded vehicle depth:479.529928 # Seafloor depth:-553.419135 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 295.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.477679 meters # Minimum depth: 519.414999 meters looking forward 100.000000 meters along route # Maximum depth: 546.678849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.414999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733308; longitude = -121.985488; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 451.749936; finalDepth = 469.414999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8892069999999 # Actual altitude: 73.8892069999999 # Commanded vehicle depth:469.414999 # Seafloor depth:-529.026535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 295.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 501.749936 meters looking forward 100.000000 meters along route # Maximum depth: 521.192886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.749936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733244; longitude = -121.985018; captureRadius = 10; duration = 84; initialDepth = 432.460813; finalDepth = 451.749936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.675987 # Actual altitude: 66.675987 # Commanded vehicle depth:451.749936 # Seafloor depth:-518.425923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 266.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 482.460813 meters looking forward 100.000000 meters along route # Maximum depth: 502.139071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.460813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733131; longitude = -121.984178; captureRadius = 10; duration = 84; initialDepth = 400.890108; finalDepth = 432.460813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.675987 # Actual altitude: 66.675987 # Commanded vehicle depth:432.460813 # Seafloor depth:-497.776385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 266.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 450.890108 meters looking forward 100.000000 meters along route # Maximum depth: 482.460813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.890108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733010; longitude = -121.983281; captureRadius = 10; duration = 84; initialDepth = 373.372061; finalDepth = 400.890108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.250611 # Actual altitude: 79.250611 # Commanded vehicle depth:400.890108 # Seafloor depth:-480.140719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 317.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 423.372061 meters looking forward 100.000000 meters along route # Maximum depth: 454.681018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.372061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732884; longitude = -121.982351; captureRadius = 10; duration = 84; initialDepth = 345.635789; finalDepth = 373.372061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.250611 # Actual altitude: 79.250611 # Commanded vehicle depth:373.372061 # Seafloor depth:-449.288508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 317.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 395.635789 meters looking forward 100.000000 meters along route # Maximum depth: 426.131990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.635789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732768; longitude = -121.981489; captureRadius = 10; duration = 84; initialDepth = 311.896096; finalDepth = 345.635789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.916447 # Actual altitude: 75.916447 # Commanded vehicle depth:345.635789 # Seafloor depth:-419.838108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 303.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 361.896096 meters looking forward 100.000000 meters along route # Maximum depth: 395.635789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.896096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732646; longitude = -121.980593; captureRadius = 10; duration = 84; initialDepth = 284.786230; finalDepth = 311.896096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.109137 # Actual altitude: 79.109137 # Commanded vehicle depth:311.896096 # Seafloor depth:-391.005233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 316.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 334.786230 meters looking forward 100.000000 meters along route # Maximum depth: 365.194737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.786230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732524; longitude = -121.979683; captureRadius = 10; duration = 84; initialDepth = 254.409217; finalDepth = 284.786230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.109137 # Actual altitude: 79.109137 # Commanded vehicle depth:284.78623 # Seafloor depth:-361.542448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 316.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 304.409217 meters looking forward 100.000000 meters along route # Maximum depth: 334.786230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.409217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732404; longitude = -121.978800; captureRadius = 10; duration = 84; initialDepth = 223.695372; finalDepth = 254.409217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.756218 # Actual altitude: 76.756218 # Commanded vehicle depth:254.409217 # Seafloor depth:-331.002561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 307.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 273.695372 meters looking forward 100.000000 meters along route # Maximum depth: 304.409217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.695372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732283; longitude = -121.977904; captureRadius = 10; duration = 84; initialDepth = 195.949706; finalDepth = 223.695372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.199313 # Actual altitude: 77.199313 # Commanded vehicle depth:223.695372 # Seafloor depth:-300.894685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 308.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 245.949706 meters looking forward 100.000000 meters along route # Maximum depth: 276.132161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.949706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732162; longitude = -121.977008; captureRadius = 10; duration = 84; initialDepth = 161.242100; finalDepth = 195.949706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.544847 # Actual altitude: 77.544847 # Commanded vehicle depth:195.949706 # Seafloor depth:-273.494553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 211.242100 meters looking forward 100.000000 meters along route # Maximum depth: 245.949706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.242100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732041; longitude = -121.976112; captureRadius = 10; duration = 84; initialDepth = 129.637439; finalDepth = 161.242100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.004324 # Actual altitude: 80.004324 # Commanded vehicle depth:161.2421 # Seafloor depth:-241.246424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 320.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 179.637439 meters looking forward 100.000000 meters along route # Maximum depth: 211.242100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.637439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731920; longitude = -121.975215; captureRadius = 10; duration = 84; initialDepth = 107.163713; finalDepth = 129.637439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.004324 # Actual altitude: 80.004324 # Commanded vehicle depth:129.637439 # Seafloor depth:-207.625948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 320.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 157.163713 meters looking forward 100.000000 meters along route # Maximum depth: 181.639021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.163713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731799; longitude = -121.974319; captureRadius = 10; duration = 84; initialDepth = 88.936999; finalDepth = 107.163713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.988509 # Actual altitude: 77.988509 # Commanded vehicle depth:107.163713 # Seafloor depth:-178.884735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 311.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 138.936999 meters looking forward 100.000000 meters along route # Maximum depth: 157.163713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.936999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731677; longitude = -121.973423; captureRadius = 10; duration = 84; initialDepth = 78.280293; finalDepth = 88.936999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.721022 # Actual altitude: 71.721022 # Commanded vehicle depth:88.936999 # Seafloor depth:-154.997177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.69; MB_Bottom_Detect_Filter_Max_Range = 286.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 128.280293 meters looking forward 100.000000 meters along route # Maximum depth: 140.194360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.280293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731556; longitude = -121.972527; captureRadius = 10; duration = 84; initialDepth = 73.494748; finalDepth = 78.280293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.060178 # Actual altitude: 66.060178 # Commanded vehicle depth:78.280293 # Seafloor depth:-137.015277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 123.494748 meters looking forward 100.000000 meters along route # Maximum depth: 129.140289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.494748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731442; longitude = -121.971682; captureRadius = 10; duration = 84; initialDepth = 70.909183; finalDepth = 73.494748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.734984 # Actual altitude: 58.734984 # Commanded vehicle depth:73.494748 # Seafloor depth:-127.937033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 234.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 120.909183 meters looking forward 100.000000 meters along route # Maximum depth: 123.878338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.909183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731329; longitude = -121.970846; captureRadius = 10; duration = 84; initialDepth = 67.914773; finalDepth = 70.909183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.442285 # Actual altitude: 54.442285 # Commanded vehicle depth:70.909183 # Seafloor depth:-123.826140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.477679 meters # Minimum depth: 117.914773 meters looking forward 100.000000 meters along route # Maximum depth: 120.909183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.914773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731208; longitude = -121.969950; captureRadius = 10; duration = 84; initialDepth = 67.864025; finalDepth = 67.914773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.916957 # Actual altitude: 52.916957 # Commanded vehicle depth:67.914773 # Seafloor depth:-120.044945 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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: 52.130172 # Sonar parameter altitude: 52.130172 # Commanded vehicle depth:67.864025 # Seafloor depth:-117.864025 # 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; MB_Power = 220; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 84.477679 meters # Minimum depth: 117.864025 meters looking forward 100.000000 meters along route # Maximum depth: 120.909183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.864025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731082; longitude = -121.969017; captureRadius = 10; duration = 600; initialDepth = 67.864025; finalDepth = 67.864025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 278.919507; 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 = 278.919507; 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 = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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