# 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_1v5.rte # Mission File: 2009MBCanyon_1v5.cfg # Distance: 81334.092165 (m) # Estimated Time: 56739 (s) 15.761 (hr) # Abort Time: 59360 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1960 (s) # Way Points: 89 # Route Points: 1015 # 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: 1906.510868 (m) # Abort Vehicle Depth: 1931.510868 (m) # Descent Vehicle Depth: 3 (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 -121.962240 36.725573 -107.054769 0.000000 3 # 1 -121.969631 36.727286 -127.837463 686.888690 1 # 2 -121.985534 36.729269 -453.670085 2123.978654 1 # 3 -121.999646 36.728368 -843.143555 3388.060973 1 # 4 -122.003677 36.729449 -1079.569824 3767.566257 1 # 5 -122.008381 36.729810 -1183.673747 4189.501258 1 # 6 -122.009128 36.728938 -1188.199463 4306.931083 1 # 7 -122.006440 36.726865 -1263.478841 4639.365595 3 # 8 -122.006664 36.722899 -1278.769043 5079.822633 1 # 9 -122.009676 36.721585 -1388.250519 5385.795189 1 # 10 -122.010121 36.718914 -1415.147705 5684.765789 1 # 11 -122.011902 36.714462 -1451.747589 6203.647727 1 # 12 -122.013238 36.710455 -1432.753693 6663.916119 1 # 13 -122.015315 36.706152 -1474.202942 7176.067924 1 # 14 -122.018134 36.702887 -1513.473145 7617.213275 1 # 15 -122.021548 36.699920 -1543.307800 8065.936851 1 # 16 -122.028670 36.696358 -1574.747833 8814.907927 1 # 17 -122.043806 36.693242 -1624.740570 10210.622264 1 # 18 -122.058942 36.693242 -1661.727783 11562.874459 1 # 19 -122.078679 36.696655 -1776.835236 13366.329526 1 # 20 -122.086543 36.699474 -1819.193329 14135.315170 1 # 21 -122.094111 36.697249 -1831.028503 14855.041781 1 # 22 -122.108792 36.716723 -1694.616119 17382.272291 4 # 23 -122.113422 36.714440 -1699.114075 17867.188830 3 # 24 -122.096639 36.692353 -1805.509064 20739.695031 4 # 25 -122.096041 36.696210 -1848.273621 21170.899197 3 # 26 -122.110583 36.688345 -1919.566681 22735.881647 4 # 27 -122.111473 36.689680 -1889.632904 22903.977841 3 # 28 -122.082982 36.703926 -1796.964539 25899.970122 4 # 29 -122.084911 36.704668 -1806.659943 26090.933480 3 # 30 -122.111919 36.691016 -1882.682648 28939.618913 4 # 31 -122.112067 36.693094 -1899.585999 29170.523010 3 # 32 -122.086543 36.705262 -1806.190796 31820.262631 4 # 33 -122.088473 36.706004 -1811.883850 32011.303787 3 # 34 -122.112512 36.694429 -1889.410431 34513.374877 4 # 35 -122.112809 36.695913 -1888.072815 34680.128549 3 # 36 -122.090105 36.706597 -1813.867676 37029.212607 4 # 37 -122.091886 36.707488 -1806.156982 37216.504789 3 # 38 -122.113254 36.697249 -1876.965912 39437.686353 4 # 39 -122.113403 36.698881 -1873.367615 39619.222843 3 # 40 -122.093666 36.707933 -1807.119415 41648.208393 4 # 41 -122.096046 36.708544 -1800.677490 41871.339457 3 # 42 -122.113254 36.700365 -1861.837677 43656.288099 4 # 43 -122.113403 36.701997 -1845.489960 43837.824643 3 # 44 -122.096925 36.709696 -1775.477570 45539.574510 4 # 45 -122.097804 36.710848 -1757.512451 45689.563650 3 # 46 -122.113848 36.703333 -1827.463593 47347.518977 4 # 47 -122.114293 36.704668 -1781.822601 47500.860688 3 # 48 -122.098683 36.712000 -1755.861786 49115.080557 4 # 49 -122.099563 36.713152 -1759.127045 49265.115236 3 # 50 -122.114293 36.706004 -1794.097229 50801.293611 4 # 51 -122.114540 36.707329 -1787.969452 50949.930804 3 # 52 -122.100442 36.714304 -1751.880829 52427.891548 4 # 53 -122.101321 36.715456 -1715.454468 52577.878223 3 # 54 -122.115419 36.708481 -1757.172302 54055.822799 4 # 55 -122.116298 36.709633 -1731.860840 54205.812077 3 # 56 -122.102200 36.716608 -1697.738892 55683.740483 4 # 57 -122.103079 36.717760 -1692.330292 55833.725927 3 # 58 -122.117178 36.710785 -1706.596375 57311.714260 4 # 59 -122.099530 36.707051 -1835.455566 58941.571350 1 # 60 -122.090550 36.698584 -1833.852325 60176.787725 3 # 61 -122.081350 36.702887 -1797.235718 61127.209383 3 # 62 -122.076898 36.701107 -1783.652893 61571.230678 1 # 63 -122.060278 36.697249 -1717.392548 63116.402443 1 # 64 -122.044252 36.695468 -1641.661621 64561.678271 1 # 65 -122.030006 36.698584 -1577.766357 65880.470000 1 # 66 -122.022438 36.701255 -1531.536896 66618.626184 1 # 67 -122.020212 36.704371 -1508.359222 67017.420961 1 # 68 -122.018580 36.707339 -1495.167236 67377.514125 1 # 69 -122.016354 36.711791 -1461.744751 67909.931506 1 # 70 -122.015018 36.714907 -1449.639923 68275.631910 1 # 71 -122.013534 36.721288 -1418.893555 68995.831617 4 # 72 -122.011457 36.721140 -1409.576141 69182.050427 3 # 73 -122.012347 36.718023 -1429.620270 69536.864138 1 # 74 -122.013534 36.714610 -1452.668610 69930.059448 1 # 75 -122.015018 36.710901 -1452.460236 70362.352445 1 # 76 -122.017096 36.706597 -1501.576660 70874.639480 1 # 77 -122.019322 36.703481 -1521.940948 71273.431747 1 # 78 -122.022141 36.700662 -1536.863220 71674.950738 1 # 79 -122.029264 36.697545 -1580.907898 72399.162138 1 # 80 -122.043955 36.694429 -1643.008850 73756.375580 1 # 81 -122.058942 36.694577 -1712.770294 75095.394872 1 # 82 -122.078085 36.698139 -1792.581665 76850.618314 1 # 83 -122.084318 36.700365 -1812.001526 77459.732506 4 # 84 -122.081795 36.701552 -1803.534424 77720.762937 3 # 85 -122.075414 36.699474 -1778.451019 78335.635820 1 # 86 -122.058942 36.695913 -1706.554779 79859.262249 1 # 87 -122.048852 36.695319 -1654.854523 80763.081451 1 # 88 -122.042471 36.695023 -1633.380768 81334.092165 4 # # A total of 1015 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 59360; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1906.510868; abortDepth = 1931.510868; 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 = 1960; 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 88 # Segment length 89.582616 meters # Minimum depth: 1633.380768 meters looking forward 0.000000 meters along route # Maximum depth: 1633.380768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.380768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695023; longitude = -122.042471; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 1595.226804; finalDepth = 1583.380768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1583.380768 # Seafloor depth: -1633.380768 # 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 88 # Segment length 80.174531 meters # Minimum depth: 1645.226804 meters looking forward 0.000000 meters along route # Maximum depth: 1645.226804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.226804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695069; longitude = -122.043472; captureRadius = 10; duration = 160; initialDepth = 1592.516996; finalDepth = 1595.226804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1595.226804 # Seafloor depth: -1645.226804 # 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 88 # Segment length 80.174474 meters # Minimum depth: 1642.516996 meters looking forward 0.000000 meters along route # Maximum depth: 1642.516996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.516996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695111; longitude = -122.044368; captureRadius = 10; duration = 160; initialDepth = 1595.830518; finalDepth = 1592.516996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1592.516996 # Seafloor depth: -1642.516996 # 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 88 # Segment length 80.174418 meters # Minimum depth: 1645.830518 meters looking forward 0.000000 meters along route # Maximum depth: 1645.830518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.830518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695153; longitude = -122.045264; captureRadius = 10; duration = 160; initialDepth = 1595.996443; finalDepth = 1595.830518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1595.830518 # Seafloor depth: -1645.830518 # 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 88 # Segment length 80.174362 meters # Minimum depth: 1645.996443 meters looking forward 0.000000 meters along route # Maximum depth: 1645.996443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.996443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695194; longitude = -122.046160; captureRadius = 10; duration = 160; initialDepth = 1600.281066; finalDepth = 1595.996443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1595.996443 # Seafloor depth: -1645.996443 # 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 88 # Segment length 80.174305 meters # Minimum depth: 1650.281066 meters looking forward 0.000000 meters along route # Maximum depth: 1650.281066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.281066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695236; longitude = -122.047056; captureRadius = 10; duration = 160; initialDepth = 1602.886954; finalDepth = 1600.281066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1600.281066 # Seafloor depth: -1650.281066 # 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 88 # Segment length 80.556008 meters # Minimum depth: 1652.886954 meters looking forward 0.000000 meters along route # Maximum depth: 1652.886954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.886954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695277; longitude = -122.047952; captureRadius = 10; duration = 161; initialDepth = 1604.854523; finalDepth = 1602.886954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1602.886954 # Seafloor depth: -1652.886954 # 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 to get to end of line 87 # Segment length 99.936712 meters # Minimum depth: 1654.854523 meters looking forward 0.000000 meters along route # Maximum depth: 1654.854523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.854523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695319; longitude = -122.048852; captureRadius = 10; duration = 199; # abortOnTimeout = True; initialDepth = 1612.528901; finalDepth = 1604.854523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1604.854523 # Seafloor depth: -1654.854523 # 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 80.255008 meters # Minimum depth: 1662.528901 meters looking forward 0.000000 meters along route # Maximum depth: 1662.528901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.528901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695385; longitude = -122.049968; captureRadius = 10; duration = 160; initialDepth = 1613.365522; finalDepth = 1612.528901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1612.528901 # Seafloor depth: -1662.528901 # 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 80.254941 meters # Minimum depth: 1663.365522 meters looking forward 0.000000 meters along route # Maximum depth: 1663.365522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.365522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695437; longitude = -122.050864; captureRadius = 10; duration = 160; initialDepth = 1624.760582; finalDepth = 1613.365522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1613.365522 # Seafloor depth: -1663.365522 # 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 80.254873 meters # Minimum depth: 1674.760582 meters looking forward 0.000000 meters along route # Maximum depth: 1674.760582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.760582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695490; longitude = -122.051760; captureRadius = 10; duration = 160; initialDepth = 1624.367813; finalDepth = 1624.760582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1624.760582 # Seafloor depth: -1674.760582 # 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 80.254805 meters # Minimum depth: 1674.367813 meters looking forward 0.000000 meters along route # Maximum depth: 1674.367813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.367813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695543; longitude = -122.052655; captureRadius = 10; duration = 160; initialDepth = 1627.014420; finalDepth = 1624.367813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1624.367813 # Seafloor depth: -1674.367813 # 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 80.254737 meters # Minimum depth: 1677.014420 meters looking forward 0.000000 meters along route # Maximum depth: 1677.014420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.014420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695596; longitude = -122.053551; captureRadius = 10; duration = 160; initialDepth = 1633.865330; finalDepth = 1627.014420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1627.01442 # Seafloor depth: -1677.014420 # 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 80.254669 meters # Minimum depth: 1683.865330 meters looking forward 0.000000 meters along route # Maximum depth: 1683.865330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.865330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695648; longitude = -122.054447; captureRadius = 10; duration = 160; initialDepth = 1643.565182; finalDepth = 1633.865330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.86533 # Seafloor depth: -1683.865330 # 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 80.254601 meters # Minimum depth: 1693.565182 meters looking forward 0.000000 meters along route # Maximum depth: 1693.565182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.565182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695701; longitude = -122.055343; captureRadius = 10; duration = 160; initialDepth = 1651.869655; finalDepth = 1643.565182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1643.565182 # Seafloor depth: -1693.565182 # 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 80.254533 meters # Minimum depth: 1701.869655 meters looking forward 0.000000 meters along route # Maximum depth: 1701.869655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.869655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695754; longitude = -122.056239; captureRadius = 10; duration = 160; initialDepth = 1655.832029; finalDepth = 1651.869655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1651.869655 # Seafloor depth: -1701.869655 # 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 80.254466 meters # Minimum depth: 1705.832029 meters looking forward 0.000000 meters along route # Maximum depth: 1705.832029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.832029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695807; longitude = -122.057135; captureRadius = 10; duration = 160; initialDepth = 1657.364505; finalDepth = 1655.832029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1655.832029 # Seafloor depth: -1705.832029 # 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 81.589857 meters # Minimum depth: 1707.364505 meters looking forward 0.000000 meters along route # Maximum depth: 1707.364505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.364505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695859; longitude = -122.058031; captureRadius = 10; duration = 163; initialDepth = 1656.554779; finalDepth = 1657.364505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1657.364505 # Seafloor depth: -1707.364505 # 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 to get to end of line 86 # Segment length 104.567278 meters # Minimum depth: 1706.554779 meters looking forward 0.000000 meters along route # Maximum depth: 1706.554779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.554779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.058942; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 1665.372519; finalDepth = 1656.554779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.554779 # Seafloor depth: -1706.554779 # 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 86 # Segment length 77.137132 meters # Minimum depth: 1715.372519 meters looking forward 0.000000 meters along route # Maximum depth: 1715.372519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.372519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696157; longitude = -122.060072; captureRadius = 10; duration = 154; initialDepth = 1668.574423; finalDepth = 1665.372519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.372519 # Seafloor depth: -1715.372519 # 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 86 # Segment length 77.136953 meters # Minimum depth: 1718.574423 meters looking forward 0.000000 meters along route # Maximum depth: 1718.574423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.574423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696338; longitude = -122.060906; captureRadius = 10; duration = 154; initialDepth = 1675.270751; finalDepth = 1668.574423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1668.574423 # Seafloor depth: -1718.574423 # 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 86 # Segment length 77.136772 meters # Minimum depth: 1725.270751 meters looking forward 0.000000 meters along route # Maximum depth: 1725.270751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.270751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696518; longitude = -122.061740; captureRadius = 10; duration = 154; initialDepth = 1678.272158; finalDepth = 1675.270751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1675.270751 # Seafloor depth: -1725.270751 # 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 86 # Segment length 77.136593 meters # Minimum depth: 1728.272158 meters looking forward 0.000000 meters along route # Maximum depth: 1728.272158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.272158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696698; longitude = -122.062574; captureRadius = 10; duration = 154; initialDepth = 1682.883635; finalDepth = 1678.272158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1678.272158 # Seafloor depth: -1728.272158 # 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 86 # Segment length 77.136413 meters # Minimum depth: 1732.883635 meters looking forward 0.000000 meters along route # Maximum depth: 1732.883635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.883635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696879; longitude = -122.063408; captureRadius = 10; duration = 154; initialDepth = 1690.120790; finalDepth = 1682.883635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.883635 # Seafloor depth: -1732.883635 # 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 86 # Segment length 78.129143 meters # Minimum depth: 1740.120790 meters looking forward 0.000000 meters along route # Maximum depth: 1740.120790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.120790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697059; longitude = -122.064242; captureRadius = 10; duration = 156; initialDepth = 1693.761308; finalDepth = 1690.120790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1690.12079 # Seafloor depth: -1740.120790 # 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 86 # Segment length 76.143144 meters # Minimum depth: 1743.761308 meters looking forward 0.000000 meters along route # Maximum depth: 1743.761308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.761308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697241; longitude = -122.065087; captureRadius = 10; duration = 152; initialDepth = 1693.256647; finalDepth = 1693.761308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.761308 # Seafloor depth: -1743.761308 # 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 86 # Segment length 79.244068 meters # Minimum depth: 1743.256647 meters looking forward 0.000000 meters along route # Maximum depth: 1743.256647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.256647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697419; longitude = -122.065910; captureRadius = 10; duration = 158; initialDepth = 1699.984179; finalDepth = 1693.256647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.256647 # Seafloor depth: -1743.256647 # 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 86 # Segment length 75.027500 meters # Minimum depth: 1749.984179 meters looking forward 0.000000 meters along route # Maximum depth: 1749.984179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.984179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697605; longitude = -122.066767; captureRadius = 10; duration = 150; initialDepth = 1700.189275; finalDepth = 1699.984179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1699.984179 # Seafloor depth: -1749.984179 # 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 86 # Segment length 77.135515 meters # Minimum depth: 1750.189275 meters looking forward 0.000000 meters along route # Maximum depth: 1750.189275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.189275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697780; longitude = -122.067578; captureRadius = 10; duration = 154; initialDepth = 1703.923289; finalDepth = 1700.189275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.189275 # Seafloor depth: -1750.189275 # 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 86 # Segment length 77.135335 meters # Minimum depth: 1753.923289 meters looking forward 0.000000 meters along route # Maximum depth: 1753.923289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.923289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697960; longitude = -122.068412; captureRadius = 10; duration = 154; initialDepth = 1706.288421; finalDepth = 1703.923289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1703.923289 # Seafloor depth: -1753.923289 # 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 86 # Segment length 77.135155 meters # Minimum depth: 1756.288421 meters looking forward 0.000000 meters along route # Maximum depth: 1756.288421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.288421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698140; longitude = -122.069246; captureRadius = 10; duration = 154; initialDepth = 1710.274063; finalDepth = 1706.288421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1706.288421 # Seafloor depth: -1756.288421 # 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 86 # Segment length 77.134975 meters # Minimum depth: 1760.274063 meters looking forward 0.000000 meters along route # Maximum depth: 1760.274063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.274063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698321; longitude = -122.070079; captureRadius = 10; duration = 154; initialDepth = 1713.069818; finalDepth = 1710.274063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.274063 # Seafloor depth: -1760.274063 # 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 86 # Segment length 82.588780 meters # Minimum depth: 1763.069818 meters looking forward 0.000000 meters along route # Maximum depth: 1763.069818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.069818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.070913; captureRadius = 10; duration = 165; initialDepth = 1717.038294; finalDepth = 1713.069818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1713.069818 # Seafloor depth: -1763.069818 # 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 86 # Segment length 82.871715 meters # Minimum depth: 1767.038294 meters looking forward 0.000000 meters along route # Maximum depth: 1767.038294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.038294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698694; longitude = -122.071806; captureRadius = 10; duration = 165; initialDepth = 1718.544425; finalDepth = 1717.038294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1717.038294 # Seafloor depth: -1767.038294 # 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 86 # Segment length 82.871507 meters # Minimum depth: 1768.544425 meters looking forward 0.000000 meters along route # Maximum depth: 1768.544425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.544425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698888; longitude = -122.072702; captureRadius = 10; duration = 165; initialDepth = 1720.604603; finalDepth = 1718.544425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.544425 # Seafloor depth: -1768.544425 # 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 86 # Segment length 82.871301 meters # Minimum depth: 1770.604603 meters looking forward 0.000000 meters along route # Maximum depth: 1770.604603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.604603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699081; longitude = -122.073598; captureRadius = 10; duration = 165; initialDepth = 1724.289985; finalDepth = 1720.604603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1720.604603 # Seafloor depth: -1770.604603 # 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 86 # Segment length 85.087150 meters # Minimum depth: 1774.289985 meters looking forward 0.000000 meters along route # Maximum depth: 1774.289985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.289985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699275; longitude = -122.074494; captureRadius = 10; duration = 170; initialDepth = 1728.451019; finalDepth = 1724.289985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1724.289985 # Seafloor depth: -1774.289985 # 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 to get to end of line 85 # Segment length 84.025260 meters # Minimum depth: 1778.451019 meters looking forward 0.000000 meters along route # Maximum depth: 1778.451019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.451019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.075414; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 1731.329576; finalDepth = 1728.451019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.451019 # Seafloor depth: -1778.451019 # 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 85 # Segment length 75.541943 meters # Minimum depth: 1781.329576 meters looking forward 0.000000 meters along route # Maximum depth: 1781.329576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.329576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699758; longitude = -122.076286; captureRadius = 10; duration = 151; initialDepth = 1735.177912; finalDepth = 1731.329576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.329576 # Seafloor depth: -1781.329576 # 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 85 # Segment length 75.541717 meters # Minimum depth: 1785.177912 meters looking forward 0.000000 meters along route # Maximum depth: 1785.177912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.177912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700013; longitude = -122.077070; captureRadius = 10; duration = 151; initialDepth = 1737.753414; finalDepth = 1735.177912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.177912 # Seafloor depth: -1785.177912 # 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 85 # Segment length 75.541493 meters # Minimum depth: 1787.753414 meters looking forward 0.000000 meters along route # Maximum depth: 1787.753414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.753414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700269; longitude = -122.077854; captureRadius = 10; duration = 151; initialDepth = 1740.001904; finalDepth = 1737.753414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.753414 # Seafloor depth: -1787.753414 # 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 85 # Segment length 75.541267 meters # Minimum depth: 1790.001904 meters looking forward 0.000000 meters along route # Maximum depth: 1790.001904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.001904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700524; longitude = -122.078638; captureRadius = 10; duration = 151; initialDepth = 1743.105915; finalDepth = 1740.001904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.001904 # Seafloor depth: -1790.001904 # 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 85 # Segment length 75.541043 meters # Minimum depth: 1793.105915 meters looking forward 0.000000 meters along route # Maximum depth: 1793.105915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.105915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700779; longitude = -122.079422; captureRadius = 10; duration = 151; initialDepth = 1747.460627; finalDepth = 1743.105915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.105915 # Seafloor depth: -1793.105915 # 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 85 # Segment length 77.209027 meters # Minimum depth: 1797.460627 meters looking forward 0.000000 meters along route # Maximum depth: 1797.460627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.460627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701034; longitude = -122.080206; captureRadius = 10; duration = 154; initialDepth = 1750.797644; finalDepth = 1747.460627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1747.460627 # Seafloor depth: -1797.460627 # 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 85 # Segment length 75.931133 meters # Minimum depth: 1800.797644 meters looking forward 0.000000 meters along route # Maximum depth: 1800.797644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.797644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701295; longitude = -122.081007; captureRadius = 10; duration = 151; initialDepth = 1753.534424; finalDepth = 1750.797644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.797644 # Seafloor depth: -1800.797644 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 102.070552 meters # Minimum depth: 1803.534424 meters looking forward 0.000000 meters along route # Maximum depth: 1803.534424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.534424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701552; longitude = -122.081795; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 1757.502763; finalDepth = 1753.534424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1753.534424 # Seafloor depth: -1803.534424 # 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 84 # Segment length 81.107775 meters # Minimum depth: 1807.502763 meters looking forward 0.000000 meters along route # Maximum depth: 1807.502763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.502763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701088; longitude = -122.082782; captureRadius = 10; duration = 162; initialDepth = 1760.441311; finalDepth = 1757.502763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1757.502763 # Seafloor depth: -1807.502763 # 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 84 # Segment length 77.852104 meters # Minimum depth: 1810.441311 meters looking forward 0.000000 meters along route # Maximum depth: 1810.441311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.441311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700719; longitude = -122.083566; captureRadius = 10; duration = 155; initialDepth = 1762.001526; finalDepth = 1760.441311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.441311 # Seafloor depth: -1810.441311 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 83 # Segment length 73.534575 meters # Minimum depth: 1812.001526 meters looking forward 0.000000 meters along route # Maximum depth: 1812.001526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.001526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.084318; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 1760.743184; finalDepth = 1762.001526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.001526 # Seafloor depth: -1812.001526 # 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 83 # Segment length 76.610184 meters # Minimum depth: 1810.743184 meters looking forward 0.000000 meters along route # Maximum depth: 1810.743184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.743184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700096; longitude = -122.083566; captureRadius = 10; duration = 153; initialDepth = 1758.430441; finalDepth = 1760.743184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.743184 # Seafloor depth: -1810.743184 # 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 83 # Segment length 76.610427 meters # Minimum depth: 1808.430441 meters looking forward 0.000000 meters along route # Maximum depth: 1808.430441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.430441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699816; longitude = -122.082782; captureRadius = 10; duration = 153; initialDepth = 1754.609438; finalDepth = 1758.430441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.430441 # Seafloor depth: -1808.430441 # 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 83 # Segment length 76.610669 meters # Minimum depth: 1804.609438 meters looking forward 0.000000 meters along route # Maximum depth: 1804.609438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.609438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699536; longitude = -122.081998; captureRadius = 10; duration = 153; initialDepth = 1753.510578; finalDepth = 1754.609438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.609438 # Seafloor depth: -1804.609438 # 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 83 # Segment length 76.610911 meters # Minimum depth: 1803.510578 meters looking forward 0.000000 meters along route # Maximum depth: 1803.510578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.510578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699256; longitude = -122.081214; captureRadius = 10; duration = 153; initialDepth = 1751.311613; finalDepth = 1753.510578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1753.510578 # Seafloor depth: -1803.510578 # 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 83 # Segment length 76.611155 meters # Minimum depth: 1801.311613 meters looking forward 0.000000 meters along route # Maximum depth: 1801.311613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.311613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698976; longitude = -122.080430; captureRadius = 10; duration = 153; initialDepth = 1746.800869; finalDepth = 1751.311613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.311613 # Seafloor depth: -1801.311613 # 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 83 # Segment length 76.611396 meters # Minimum depth: 1796.800869 meters looking forward 0.000000 meters along route # Maximum depth: 1796.800869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.800869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698696; longitude = -122.079646; captureRadius = 10; duration = 153; initialDepth = 1746.846931; finalDepth = 1746.800869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.800869 # Seafloor depth: -1796.800869 # 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 83 # Segment length 75.914875 meters # Minimum depth: 1796.846931 meters looking forward 0.000000 meters along route # Maximum depth: 1796.846931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.846931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698416; longitude = -122.078862; captureRadius = 10; duration = 151; initialDepth = 1742.581665; finalDepth = 1746.846931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.846931 # Seafloor depth: -1796.846931 # 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 to get to end of line 82 # Segment length 62.264129 meters # Minimum depth: 1792.581665 meters looking forward 0.000000 meters along route # Maximum depth: 1792.581665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.581665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698139; longitude = -122.078085; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 1740.555855; finalDepth = 1742.581665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1742.581665 # Seafloor depth: -1792.581665 # 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 82 # Segment length 82.147372 meters # Minimum depth: 1790.555855 meters looking forward 0.000000 meters along route # Maximum depth: 1790.555855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.555855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698013; longitude = -122.077406; captureRadius = 10; duration = 164; initialDepth = 1738.233542; finalDepth = 1740.555855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.555855 # Seafloor depth: -1790.555855 # 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 82 # Segment length 76.946755 meters # Minimum depth: 1788.233542 meters looking forward 0.000000 meters along route # Maximum depth: 1788.233542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.233542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697846; longitude = -122.076510; captureRadius = 10; duration = 153; initialDepth = 1736.061747; finalDepth = 1738.233542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.233542 # Seafloor depth: -1788.233542 # 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 82 # Segment length 77.080057 meters # Minimum depth: 1786.061747 meters looking forward 0.000000 meters along route # Maximum depth: 1786.061747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.061747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697690; longitude = -122.075671; captureRadius = 10; duration = 154; initialDepth = 1733.156298; finalDepth = 1736.061747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1736.061747 # Seafloor depth: -1786.061747 # 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 82 # Segment length 82.147895 meters # Minimum depth: 1783.156298 meters looking forward 0.000000 meters along route # Maximum depth: 1783.156298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.156298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697533; longitude = -122.074830; captureRadius = 10; duration = 164; initialDepth = 1727.718231; finalDepth = 1733.156298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1733.156298 # Seafloor depth: -1783.156298 # 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 82 # Segment length 82.148076 meters # Minimum depth: 1777.718231 meters looking forward 0.000000 meters along route # Maximum depth: 1777.718231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.718231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697367; longitude = -122.073934; captureRadius = 10; duration = 164; initialDepth = 1721.630661; finalDepth = 1727.718231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.718231 # Seafloor depth: -1777.718231 # 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 82 # Segment length 82.148258 meters # Minimum depth: 1771.630661 meters looking forward 0.000000 meters along route # Maximum depth: 1771.630661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.630661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697200; longitude = -122.073038; captureRadius = 10; duration = 164; initialDepth = 1716.501725; finalDepth = 1721.630661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.630661 # Seafloor depth: -1771.630661 # 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 82 # Segment length 82.148440 meters # Minimum depth: 1766.501725 meters looking forward 0.000000 meters along route # Maximum depth: 1766.501725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.501725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697033; longitude = -122.072142; captureRadius = 10; duration = 164; initialDepth = 1714.316967; finalDepth = 1716.501725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.501725 # Seafloor depth: -1766.501725 # 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 82 # Segment length 82.917994 meters # Minimum depth: 1764.316967 meters looking forward 0.000000 meters along route # Maximum depth: 1764.316967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.316967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696867; longitude = -122.071246; captureRadius = 10; duration = 165; initialDepth = 1708.651231; finalDepth = 1714.316967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.316967 # Seafloor depth: -1764.316967 # 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 82 # Segment length 81.379431 meters # Minimum depth: 1758.651231 meters looking forward 0.000000 meters along route # Maximum depth: 1758.651231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.651231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696698; longitude = -122.070342; captureRadius = 10; duration = 162; initialDepth = 1709.226955; finalDepth = 1708.651231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1708.651231 # Seafloor depth: -1758.651231 # 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 82 # Segment length 82.148984 meters # Minimum depth: 1759.226955 meters looking forward 0.000000 meters along route # Maximum depth: 1759.226955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.226955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696533; longitude = -122.069454; captureRadius = 10; duration = 164; initialDepth = 1707.331493; finalDepth = 1709.226955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.226955 # Seafloor depth: -1759.226955 # 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 82 # Segment length 82.149167 meters # Minimum depth: 1757.331493 meters looking forward 0.000000 meters along route # Maximum depth: 1757.331493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.331493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696366; longitude = -122.068558; captureRadius = 10; duration = 164; initialDepth = 1707.660406; finalDepth = 1707.331493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.331493 # Seafloor depth: -1757.331493 # 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 82 # Segment length 82.149349 meters # Minimum depth: 1757.660406 meters looking forward 0.000000 meters along route # Maximum depth: 1757.660406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.660406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696200; longitude = -122.067663; captureRadius = 10; duration = 164; initialDepth = 1707.768108; finalDepth = 1707.660406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.660406 # Seafloor depth: -1757.660406 # 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 82 # Segment length 82.149530 meters # Minimum depth: 1757.768108 meters looking forward 0.000000 meters along route # Maximum depth: 1757.768108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.768108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696033; longitude = -122.066767; captureRadius = 10; duration = 164; initialDepth = 1702.777242; finalDepth = 1707.768108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.768108 # Seafloor depth: -1757.768108 # 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 82 # Segment length 78.620689 meters # Minimum depth: 1752.777242 meters looking forward 0.000000 meters along route # Maximum depth: 1752.777242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.777242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695866; longitude = -122.065871; captureRadius = 10; duration = 157; initialDepth = 1697.207266; finalDepth = 1702.777242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.777242 # Seafloor depth: -1752.777242 # 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 82 # Segment length 75.410171 meters # Minimum depth: 1747.207266 meters looking forward 0.000000 meters along route # Maximum depth: 1747.207266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.207266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695707; longitude = -122.065013; captureRadius = 10; duration = 150; initialDepth = 1692.878084; finalDepth = 1697.207266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1697.207266 # Seafloor depth: -1747.207266 # 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 82 # Segment length 82.150053 meters # Minimum depth: 1742.878084 meters looking forward 0.000000 meters along route # Maximum depth: 1742.878084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.878084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695554; longitude = -122.064191; captureRadius = 10; duration = 164; initialDepth = 1686.253207; finalDepth = 1692.878084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.878084 # Seafloor depth: -1742.878084 # 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 82 # Segment length 82.150235 meters # Minimum depth: 1736.253207 meters looking forward 0.000000 meters along route # Maximum depth: 1736.253207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.253207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695387; longitude = -122.063295; captureRadius = 10; duration = 164; initialDepth = 1681.401188; finalDepth = 1686.253207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1686.253207 # Seafloor depth: -1736.253207 # 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 82 # Segment length 82.150416 meters # Minimum depth: 1731.401188 meters looking forward 0.000000 meters along route # Maximum depth: 1731.401188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.401188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695220; longitude = -122.062399; captureRadius = 10; duration = 164; initialDepth = 1681.617940; finalDepth = 1681.401188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.401188 # Seafloor depth: -1731.401188 # 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 82 # Segment length 77.905214 meters # Minimum depth: 1731.617940 meters looking forward 0.000000 meters along route # Maximum depth: 1731.617940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.617940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695054; longitude = -122.061503; captureRadius = 10; duration = 155; initialDepth = 1676.949909; finalDepth = 1681.617940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.61794 # Seafloor depth: -1731.617940 # 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 82 # Segment length 76.127308 meters # Minimum depth: 1726.949909 meters looking forward 0.000000 meters along route # Maximum depth: 1726.949909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.949909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694895; longitude = -122.060653; captureRadius = 10; duration = 152; initialDepth = 1669.809373; finalDepth = 1676.949909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1676.949909 # Seafloor depth: -1726.949909 # 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 82 # Segment length 80.783919 meters # Minimum depth: 1719.809373 meters looking forward 0.000000 meters along route # Maximum depth: 1719.809373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.809373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694741; longitude = -122.059823; captureRadius = 10; duration = 161; initialDepth = 1662.770294; finalDepth = 1669.809373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.809373 # Seafloor depth: -1719.809373 # 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 to get to end of line 81 # Segment length 61.368165 meters # Minimum depth: 1712.770294 meters looking forward 0.000000 meters along route # Maximum depth: 1712.770294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.770294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694577; longitude = -122.058942; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1657.924004; finalDepth = 1662.770294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1662.770294 # Seafloor depth: -1712.770294 # 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 81 # Segment length 80.048202 meters # Minimum depth: 1707.924004 meters looking forward 0.000000 meters along route # Maximum depth: 1707.924004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.924004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694570; longitude = -122.058255; captureRadius = 10; duration = 160; initialDepth = 1648.048735; finalDepth = 1657.924004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1657.924004 # Seafloor depth: -1707.924004 # 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 81 # Segment length 80.048224 meters # Minimum depth: 1698.048735 meters looking forward 0.000000 meters along route # Maximum depth: 1698.048735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.048735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694561; longitude = -122.057359; captureRadius = 10; duration = 160; initialDepth = 1639.544979; finalDepth = 1648.048735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.048735 # Seafloor depth: -1698.048735 # 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 81 # Segment length 80.048247 meters # Minimum depth: 1689.544979 meters looking forward 0.000000 meters along route # Maximum depth: 1689.544979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.544979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694553; longitude = -122.056463; captureRadius = 10; duration = 160; initialDepth = 1643.907104; finalDepth = 1639.544979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1639.544979 # Seafloor depth: -1689.544979 # 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 81 # Segment length 80.048269 meters # Minimum depth: 1693.907104 meters looking forward 0.000000 meters along route # Maximum depth: 1693.907104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.907104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694544; longitude = -122.055567; captureRadius = 10; duration = 160; initialDepth = 1641.539892; finalDepth = 1643.907104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1643.907104 # Seafloor depth: -1693.907104 # 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 81 # Segment length 80.048292 meters # Minimum depth: 1691.539892 meters looking forward 0.000000 meters along route # Maximum depth: 1691.539892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.539892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694535; longitude = -122.054671; captureRadius = 10; duration = 160; initialDepth = 1635.387437; finalDepth = 1641.539892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1641.539892 # Seafloor depth: -1691.539892 # 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 81 # Segment length 80.048314 meters # Minimum depth: 1685.387437 meters looking forward 0.000000 meters along route # Maximum depth: 1685.387437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.387437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694526; longitude = -122.053775; captureRadius = 10; duration = 160; initialDepth = 1628.346871; finalDepth = 1635.387437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1635.387437 # Seafloor depth: -1685.387437 # 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 81 # Segment length 80.048337 meters # Minimum depth: 1678.346871 meters looking forward 0.000000 meters along route # Maximum depth: 1678.346871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.346871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694517; longitude = -122.052879; captureRadius = 10; duration = 160; initialDepth = 1624.075414; finalDepth = 1628.346871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1628.346871 # Seafloor depth: -1678.346871 # 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 81 # Segment length 80.048359 meters # Minimum depth: 1674.075414 meters looking forward 0.000000 meters along route # Maximum depth: 1674.075414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.075414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694508; longitude = -122.051984; captureRadius = 10; duration = 160; initialDepth = 1621.844578; finalDepth = 1624.075414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1624.075414 # Seafloor depth: -1674.075414 # 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 81 # Segment length 80.048382 meters # Minimum depth: 1671.844578 meters looking forward 0.000000 meters along route # Maximum depth: 1671.844578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.844578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694499; longitude = -122.051088; captureRadius = 10; duration = 160; initialDepth = 1618.494881; finalDepth = 1621.844578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1621.844578 # Seafloor depth: -1671.844578 # 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 81 # Segment length 80.048404 meters # Minimum depth: 1668.494881 meters looking forward 0.000000 meters along route # Maximum depth: 1668.494881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.494881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694491; longitude = -122.050192; captureRadius = 10; duration = 160; initialDepth = 1613.814281; finalDepth = 1618.494881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1618.494881 # Seafloor depth: -1668.494881 # 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 81 # Segment length 80.048427 meters # Minimum depth: 1663.814281 meters looking forward 0.000000 meters along route # Maximum depth: 1663.814281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.814281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694482; longitude = -122.049296; captureRadius = 10; duration = 160; initialDepth = 1611.296117; finalDepth = 1613.814281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1613.814281 # Seafloor depth: -1663.814281 # 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 81 # Segment length 80.048450 meters # Minimum depth: 1661.296117 meters looking forward 0.000000 meters along route # Maximum depth: 1661.296117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.296117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694473; longitude = -122.048400; captureRadius = 10; duration = 160; initialDepth = 1604.576629; finalDepth = 1611.296117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1611.296117 # Seafloor depth: -1661.296117 # 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 81 # Segment length 80.048472 meters # Minimum depth: 1654.576629 meters looking forward 0.000000 meters along route # Maximum depth: 1654.576629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.576629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694464; longitude = -122.047504; captureRadius = 10; duration = 160; initialDepth = 1601.785262; finalDepth = 1604.576629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1604.576629 # Seafloor depth: -1654.576629 # 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 81 # Segment length 80.048495 meters # Minimum depth: 1651.785262 meters looking forward 0.000000 meters along route # Maximum depth: 1651.785262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.785262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694455; longitude = -122.046608; captureRadius = 10; duration = 160; initialDepth = 1601.188191; finalDepth = 1601.785262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1601.785262 # Seafloor depth: -1651.785262 # 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 81 # Segment length 80.048517 meters # Minimum depth: 1651.188191 meters looking forward 0.000000 meters along route # Maximum depth: 1651.188191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.188191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694446; longitude = -122.045712; captureRadius = 10; duration = 160; initialDepth = 1596.848932; finalDepth = 1601.188191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1601.188191 # Seafloor depth: -1651.188191 # 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 81 # Segment length 76.925736 meters # Minimum depth: 1646.848932 meters looking forward 0.000000 meters along route # Maximum depth: 1646.848932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.848932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694438; longitude = -122.044816; captureRadius = 10; duration = 153; initialDepth = 1593.008850; finalDepth = 1596.848932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1596.848932 # Seafloor depth: -1646.848932 # 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 to get to end of line 80 # Segment length 86.001202 meters # Minimum depth: 1643.008850 meters looking forward 0.000000 meters along route # Maximum depth: 1643.008850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.008850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.043955; captureRadius = 10; duration = 172; # abortOnTimeout = True; initialDepth = 1587.122960; finalDepth = 1593.008850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1593.00885 # Seafloor depth: -1643.008850 # 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 80 # Segment length 77.896602 meters # Minimum depth: 1637.122960 meters looking forward 0.000000 meters along route # Maximum depth: 1637.122960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.122960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694626; longitude = -122.043024; captureRadius = 10; duration = 155; initialDepth = 1579.626157; finalDepth = 1587.122960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1587.12296 # Seafloor depth: -1637.122960 # 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 80 # Segment length 78.524443 meters # Minimum depth: 1629.626157 meters looking forward 0.000000 meters along route # Maximum depth: 1629.626157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.626157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694805; longitude = -122.042181; captureRadius = 10; duration = 157; initialDepth = 1578.645004; finalDepth = 1579.626157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1579.626157 # Seafloor depth: -1629.626157 # 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 80 # Segment length 81.547884 meters # Minimum depth: 1628.645004 meters looking forward 0.000000 meters along route # Maximum depth: 1628.645004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.645004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694986; longitude = -122.041331; captureRadius = 10; duration = 163; initialDepth = 1581.023110; finalDepth = 1578.645004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1578.645004 # Seafloor depth: -1628.645004 # 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 80 # Segment length 75.500527 meters # Minimum depth: 1631.023110 meters looking forward 0.000000 meters along route # Maximum depth: 1631.023110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.023110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695173; longitude = -122.040448; captureRadius = 10; duration = 151; initialDepth = 1570.643288; finalDepth = 1581.023110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1581.02311 # Seafloor depth: -1631.023110 # 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 80 # Segment length 79.695816 meters # Minimum depth: 1620.643288 meters looking forward 0.000000 meters along route # Maximum depth: 1620.643288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.643288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695346; longitude = -122.039631; captureRadius = 10; duration = 159; initialDepth = 1568.970845; finalDepth = 1570.643288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1570.643288 # Seafloor depth: -1620.643288 # 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 80 # Segment length 77.351959 meters # Minimum depth: 1618.970845 meters looking forward 0.000000 meters along route # Maximum depth: 1618.970845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.970845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695529; longitude = -122.038768; captureRadius = 10; duration = 154; initialDepth = 1564.699063; finalDepth = 1568.970845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1568.970845 # Seafloor depth: -1618.970845 # 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 80 # Segment length 78.523650 meters # Minimum depth: 1614.699063 meters looking forward 0.000000 meters along route # Maximum depth: 1614.699063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.699063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695707; longitude = -122.037931; captureRadius = 10; duration = 157; initialDepth = 1565.325108; finalDepth = 1564.699063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1564.699063 # Seafloor depth: -1614.699063 # 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 80 # Segment length 78.523491 meters # Minimum depth: 1615.325108 meters looking forward 0.000000 meters along route # Maximum depth: 1615.325108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.325108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695887; longitude = -122.037081; captureRadius = 10; duration = 157; initialDepth = 1558.488573; finalDepth = 1565.325108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1565.325108 # Seafloor depth: -1615.325108 # 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 80 # Segment length 78.523333 meters # Minimum depth: 1608.488573 meters looking forward 0.000000 meters along route # Maximum depth: 1608.488573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.488573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696067; longitude = -122.036231; captureRadius = 10; duration = 157; initialDepth = 1552.027389; finalDepth = 1558.488573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1558.488573 # Seafloor depth: -1608.488573 # 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 80 # Segment length 80.238860 meters # Minimum depth: 1602.027389 meters looking forward 0.000000 meters along route # Maximum depth: 1602.027389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.027389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696248; longitude = -122.035381; captureRadius = 10; duration = 160; initialDepth = 1548.784196; finalDepth = 1552.027389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1552.027389 # Seafloor depth: -1602.027389 # 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 80 # Segment length 76.807328 meters # Minimum depth: 1598.784196 meters looking forward 0.000000 meters along route # Maximum depth: 1598.784196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.784196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696432; longitude = -122.034513; captureRadius = 10; duration = 153; initialDepth = 1539.967551; finalDepth = 1548.784196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1548.784196 # Seafloor depth: -1598.784196 # 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 80 # Segment length 78.522857 meters # Minimum depth: 1589.967551 meters looking forward 0.000000 meters along route # Maximum depth: 1589.967551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.967551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696608; longitude = -122.033681; captureRadius = 10; duration = 157; initialDepth = 1539.387859; finalDepth = 1539.967551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1539.967551 # Seafloor depth: -1589.967551 # 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 80 # Segment length 82.633929 meters # Minimum depth: 1589.387859 meters looking forward 0.000000 meters along route # Maximum depth: 1589.387859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.387859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696788; longitude = -122.032831; captureRadius = 10; duration = 165; initialDepth = 1533.619134; finalDepth = 1539.387859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1539.387859 # Seafloor depth: -1589.387859 # 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 80 # Segment length 82.769785 meters # Minimum depth: 1583.619134 meters looking forward 0.000000 meters along route # Maximum depth: 1583.619134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.619134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696978; longitude = -122.031937; captureRadius = 10; duration = 165; initialDepth = 1532.768914; finalDepth = 1533.619134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1533.619134 # Seafloor depth: -1583.619134 # 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 80 # Segment length 82.769608 meters # Minimum depth: 1582.768914 meters looking forward 0.000000 meters along route # Maximum depth: 1582.768914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.768914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697168; longitude = -122.031041; captureRadius = 10; duration = 165; initialDepth = 1533.266655; finalDepth = 1532.768914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1532.768914 # Seafloor depth: -1582.768914 # 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 80 # Segment length 81.382168 meters # Minimum depth: 1583.266655 meters looking forward 0.000000 meters along route # Maximum depth: 1583.266655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.266655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697358; longitude = -122.030145; captureRadius = 10; duration = 162; initialDepth = 1530.907898; finalDepth = 1533.266655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1533.266655 # Seafloor depth: -1583.266655 # 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 to get to end of line 79 # Segment length 81.233795 meters # Minimum depth: 1580.907898 meters looking forward 0.000000 meters along route # Maximum depth: 1580.907898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.907898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697545; longitude = -122.029264; captureRadius = 10; duration = 162; # abortOnTimeout = True; initialDepth = 1528.206451; finalDepth = 1530.907898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1530.907898 # Seafloor depth: -1580.907898 # 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 79 # Segment length 79.706746 meters # Minimum depth: 1578.206451 meters looking forward 0.000000 meters along route # Maximum depth: 1578.206451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.206451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697895; longitude = -122.028465; captureRadius = 10; duration = 159; initialDepth = 1515.534281; finalDepth = 1528.206451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1528.206451 # Seafloor depth: -1578.206451 # 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 79 # Segment length 82.132792 meters # Minimum depth: 1565.534281 meters looking forward 0.000000 meters along route # Maximum depth: 1565.534281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.534281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698238; longitude = -122.027681; captureRadius = 10; duration = 164; initialDepth = 1514.364474; finalDepth = 1515.534281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1515.534281 # Seafloor depth: -1565.534281 # 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 79 # Segment length 77.279918 meters # Minimum depth: 1564.364474 meters looking forward 0.000000 meters along route # Maximum depth: 1564.364474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.364474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698591; longitude = -122.026873; captureRadius = 10; duration = 154; initialDepth = 1512.706598; finalDepth = 1514.364474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1514.364474 # Seafloor depth: -1564.364474 # 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 79 # Segment length 79.705964 meters # Minimum depth: 1562.706598 meters looking forward 0.000000 meters along route # Maximum depth: 1562.706598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.706598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698924; longitude = -122.026113; captureRadius = 10; duration = 159; initialDepth = 1505.062392; finalDepth = 1512.706598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1512.706598 # Seafloor depth: -1562.706598 # 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 79 # Segment length 79.705703 meters # Minimum depth: 1555.062392 meters looking forward 0.000000 meters along route # Maximum depth: 1555.062392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.062392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699267; longitude = -122.025329; captureRadius = 10; duration = 159; initialDepth = 1497.273029; finalDepth = 1505.062392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1505.062392 # Seafloor depth: -1555.062392 # 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 79 # Segment length 79.705444 meters # Minimum depth: 1547.273029 meters looking forward 0.000000 meters along route # Maximum depth: 1547.273029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.273029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699610; longitude = -122.024545; captureRadius = 10; duration = 159; initialDepth = 1493.971456; finalDepth = 1497.273029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1497.273029 # Seafloor depth: -1547.273029 # 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 79 # Segment length 81.526469 meters # Minimum depth: 1543.971456 meters looking forward 0.000000 meters along route # Maximum depth: 1543.971456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.971456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699953; longitude = -122.023761; captureRadius = 10; duration = 163; initialDepth = 1489.289811; finalDepth = 1493.971456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1493.971456 # Seafloor depth: -1543.971456 # 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 79 # Segment length 83.214569 meters # Minimum depth: 1539.289811 meters looking forward 0.000000 meters along route # Maximum depth: 1539.289811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.289811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700304; longitude = -122.022959; captureRadius = 10; duration = 166; initialDepth = 1486.863220; finalDepth = 1489.289811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1489.289811 # Seafloor depth: -1539.289811 # 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 to get to end of line 78 # Segment length 90.215257 meters # Minimum depth: 1536.863220 meters looking forward 0.000000 meters along route # Maximum depth: 1536.863220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.863220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700662; longitude = -122.022141; captureRadius = 10; duration = 180; # abortOnTimeout = True; initialDepth = 1485.341278; finalDepth = 1486.863220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1486.86322 # Seafloor depth: -1536.863220 # 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 78 # Segment length 77.783593 meters # Minimum depth: 1535.341278 meters looking forward 0.000000 meters along route # Maximum depth: 1535.341278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.341278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701295; longitude = -122.021508; captureRadius = 10; duration = 155; initialDepth = 1484.324999; finalDepth = 1485.341278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1485.341278 # Seafloor depth: -1535.341278 # 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 78 # Segment length 76.284109 meters # Minimum depth: 1534.324999 meters looking forward 0.000000 meters along route # Maximum depth: 1534.324999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.324999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701841; longitude = -122.020962; captureRadius = 10; duration = 152; initialDepth = 1476.776757; finalDepth = 1484.324999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1484.324999 # Seafloor depth: -1534.324999 # 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 78 # Segment length 77.033551 meters # Minimum depth: 1526.776757 meters looking forward 0.000000 meters along route # Maximum depth: 1526.776757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.776757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702377; longitude = -122.020426; captureRadius = 10; duration = 154; initialDepth = 1473.118560; finalDepth = 1476.776757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1476.776757 # Seafloor depth: -1526.776757 # 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 78 # Segment length 80.202481 meters # Minimum depth: 1523.118560 meters looking forward 0.000000 meters along route # Maximum depth: 1523.118560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.118560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702918; longitude = -122.019885; captureRadius = 10; duration = 160; initialDepth = 1471.940948; finalDepth = 1473.118560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1473.11856 # Seafloor depth: -1523.118560 # 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 to get to end of line 77 # Segment length 77.907070 meters # Minimum depth: 1521.940948 meters looking forward 0.000000 meters along route # Maximum depth: 1521.940948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.940948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703481; longitude = -122.019322; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 1467.327490; finalDepth = 1471.940948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1471.940948 # Seafloor depth: -1521.940948 # 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 77 # Segment length 80.754548 meters # Minimum depth: 1517.327490 meters looking forward 0.000000 meters along route # Maximum depth: 1517.327490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.327490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704090; longitude = -122.018887; captureRadius = 10; duration = 161; initialDepth = 1462.061257; finalDepth = 1467.327490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1467.32749 # Seafloor depth: -1517.327490 # 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 77 # Segment length 80.754396 meters # Minimum depth: 1512.061257 meters looking forward 0.000000 meters along route # Maximum depth: 1512.061257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.061257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704721; longitude = -122.018436; captureRadius = 10; duration = 161; initialDepth = 1464.149407; finalDepth = 1462.061257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1462.061257 # Seafloor depth: -1512.061257 # 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 77 # Segment length 80.754246 meters # Minimum depth: 1514.149407 meters looking forward 0.000000 meters along route # Maximum depth: 1514.149407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.149407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705352; longitude = -122.017986; captureRadius = 10; duration = 161; initialDepth = 1455.207396; finalDepth = 1464.149407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1464.149407 # Seafloor depth: -1514.149407 # 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 77 # Segment length 78.622007 meters # Minimum depth: 1505.207396 meters looking forward 0.000000 meters along route # Maximum depth: 1505.207396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.207396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705983; longitude = -122.017535; captureRadius = 10; duration = 157; initialDepth = 1451.576660; finalDepth = 1455.207396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1455.207396 # Seafloor depth: -1505.207396 # 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 to get to end of line 76 # Segment length 130.731409 meters # Minimum depth: 1501.576660 meters looking forward 0.000000 meters along route # Maximum depth: 1501.576660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.576660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.017096; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 1437.392899; finalDepth = 1451.576660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1451.57666 # Seafloor depth: -1501.576660 # 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 76 # Segment length 75.103204 meters # Minimum depth: 1487.392899 meters looking forward 0.000000 meters along route # Maximum depth: 1487.392899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.392899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707695; longitude = -122.016566; captureRadius = 10; duration = 150; initialDepth = 1424.782297; finalDepth = 1437.392899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1437.392899 # Seafloor depth: -1487.392899 # 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 76 # Segment length 75.103135 meters # Minimum depth: 1474.782297 meters looking forward 0.000000 meters along route # Maximum depth: 1474.782297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.782297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708326; longitude = -122.016261; captureRadius = 10; duration = 150; initialDepth = 1407.821362; finalDepth = 1424.782297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1424.782297 # Seafloor depth: -1474.782297 # 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 76 # Segment length 75.103065 meters # Minimum depth: 1457.821362 meters looking forward 0.000000 meters along route # Maximum depth: 1457.821362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.821362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708957; longitude = -122.015956; captureRadius = 10; duration = 150; initialDepth = 1413.736170; finalDepth = 1407.821362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1407.821362 # Seafloor depth: -1457.821362 # 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 76 # Segment length 75.102996 meters # Minimum depth: 1463.736170 meters looking forward 0.000000 meters along route # Maximum depth: 1463.736170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.736170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709588; longitude = -122.015652; captureRadius = 10; duration = 150; initialDepth = 1407.458933; finalDepth = 1413.736170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1413.73617 # Seafloor depth: -1463.736170 # 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 76 # Segment length 81.143226 meters # Minimum depth: 1457.458933 meters looking forward 0.000000 meters along route # Maximum depth: 1457.458933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.458933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710219; longitude = -122.015347; captureRadius = 10; duration = 162; initialDepth = 1402.460236; finalDepth = 1407.458933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1407.458933 # Seafloor depth: -1457.458933 # 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 to get to end of line 75 # Segment length 109.652101 meters # Minimum depth: 1452.460236 meters looking forward 0.000000 meters along route # Maximum depth: 1452.460236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.460236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710901; longitude = -122.015018; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 1420.109355; finalDepth = 1402.460236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1402.460236 # Seafloor depth: -1452.460236 # 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 75 # Segment length 84.048593 meters # Minimum depth: 1470.109355 meters looking forward 0.000000 meters along route # Maximum depth: 1470.109355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.109355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711842; longitude = -122.014642; captureRadius = 10; duration = 168; initialDepth = 1416.783853; finalDepth = 1420.109355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1420.109355 # Seafloor depth: -1470.109355 # 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 75 # Segment length 84.048533 meters # Minimum depth: 1466.783853 meters looking forward 0.000000 meters along route # Maximum depth: 1466.783853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.783853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712563; longitude = -122.014353; captureRadius = 10; duration = 168; initialDepth = 1410.812023; finalDepth = 1416.783853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1416.783853 # Seafloor depth: -1466.783853 # 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 75 # Segment length 78.814297 meters # Minimum depth: 1460.812023 meters looking forward 0.000000 meters along route # Maximum depth: 1460.812023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.812023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713284; longitude = -122.014065; captureRadius = 10; duration = 157; initialDepth = 1404.250828; finalDepth = 1410.812023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1410.812023 # Seafloor depth: -1460.812023 # 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 75 # Segment length 75.729473 meters # Minimum depth: 1454.250828 meters looking forward 0.000000 meters along route # Maximum depth: 1454.250828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.250828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.013794; captureRadius = 10; duration = 151; initialDepth = 1402.668610; finalDepth = 1404.250828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1404.250828 # Seafloor depth: -1454.250828 # 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 to get to end of line 74 # Segment length 65.319678 meters # Minimum depth: 1452.668610 meters looking forward 0.000000 meters along route # Maximum depth: 1452.668610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.668610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714610; longitude = -122.013534; captureRadius = 10; duration = 130; # abortOnTimeout = True; initialDepth = 1397.208356; finalDepth = 1402.668610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1402.66861 # Seafloor depth: -1452.668610 # 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 74 # Segment length 83.077061 meters # Minimum depth: 1447.208356 meters looking forward 0.000000 meters along route # Maximum depth: 1447.208356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.208356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715177; longitude = -122.013337; captureRadius = 10; duration = 166; initialDepth = 1393.849739; finalDepth = 1397.208356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1397.208356 # Seafloor depth: -1447.208356 # 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 74 # Segment length 83.077018 meters # Minimum depth: 1443.849739 meters looking forward 0.000000 meters along route # Maximum depth: 1443.849739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.849739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715898; longitude = -122.013086; captureRadius = 10; duration = 166; initialDepth = 1388.950859; finalDepth = 1393.849739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1393.849739 # Seafloor depth: -1443.849739 # 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 74 # Segment length 83.076975 meters # Minimum depth: 1438.950859 meters looking forward 0.000000 meters along route # Maximum depth: 1438.950859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.950859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716619; longitude = -122.012835; captureRadius = 10; duration = 166; initialDepth = 1386.125989; finalDepth = 1388.950859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.950859 # Seafloor depth: -1438.950859 # 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 74 # Segment length 78.644578 meters # Minimum depth: 1436.125989 meters looking forward 0.000000 meters along route # Maximum depth: 1436.125989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.125989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717340; longitude = -122.012584; captureRadius = 10; duration = 157; initialDepth = 1379.620270; finalDepth = 1386.125989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.125989 # Seafloor depth: -1436.125989 # 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 to get to end of line 73 # Segment length 106.987859 meters # Minimum depth: 1429.620270 meters looking forward 0.000000 meters along route # Maximum depth: 1429.620270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.620270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718023; longitude = -122.012347; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 1375.365599; finalDepth = 1379.620270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1379.62027 # Seafloor depth: -1429.620270 # 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 73 # Segment length 82.086640 meters # Minimum depth: 1425.365599 meters looking forward 0.000000 meters along route # Maximum depth: 1425.365599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.365599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718963; longitude = -122.012079; captureRadius = 10; duration = 164; initialDepth = 1365.972633; finalDepth = 1375.365599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1375.365599 # Seafloor depth: -1425.365599 # 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 73 # Segment length 82.376168 meters # Minimum depth: 1415.972633 meters looking forward 0.000000 meters along route # Maximum depth: 1415.972633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.972633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719684; longitude = -122.011873; captureRadius = 10; duration = 164; initialDepth = 1364.821970; finalDepth = 1365.972633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1365.972633 # Seafloor depth: -1415.972633 # 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 73 # Segment length 83.363044 meters # Minimum depth: 1414.821970 meters looking forward 0.000000 meters along route # Maximum depth: 1414.821970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.821970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720408; longitude = -122.011666; captureRadius = 10; duration = 166; initialDepth = 1359.576141; finalDepth = 1364.821970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1364.82197 # Seafloor depth: -1414.821970 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 109.116945 meters # Minimum depth: 1409.576141 meters looking forward 0.000000 meters along route # Maximum depth: 1409.576141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.576141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721140; longitude = -122.011457; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1358.520156; finalDepth = 1359.576141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1359.576141 # Seafloor depth: -1409.576141 # 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 72 # Segment length 77.101865 meters # Minimum depth: 1408.520156 meters looking forward 0.000000 meters along route # Maximum depth: 1408.520156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.520156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721227; longitude = -122.012674; captureRadius = 10; duration = 154; initialDepth = 1368.893555; finalDepth = 1358.520156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1358.520156 # Seafloor depth: -1408.520156 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 71 # Segment length 71.814142 meters # Minimum depth: 1418.893555 meters looking forward 0.000000 meters along route # Maximum depth: 1418.893555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.893555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721288; longitude = -122.013534; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 1376.646859; finalDepth = 1368.893555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1368.893555 # Seafloor depth: -1418.893555 # 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 71 # Segment length 78.702060 meters # Minimum depth: 1426.646859 meters looking forward 0.000000 meters along route # Maximum depth: 1426.646859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.646859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720652; longitude = -122.013682; captureRadius = 10; duration = 157; initialDepth = 1377.340397; finalDepth = 1376.646859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1376.646859 # Seafloor depth: -1426.646859 # 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 71 # Segment length 84.351559 meters # Minimum depth: 1427.340397 meters looking forward 0.000000 meters along route # Maximum depth: 1427.340397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.340397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719954; longitude = -122.013844; captureRadius = 10; duration = 168; initialDepth = 1387.343041; finalDepth = 1377.340397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1377.340397 # Seafloor depth: -1427.340397 # 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 71 # Segment length 78.429143 meters # Minimum depth: 1437.343041 meters looking forward 0.000000 meters along route # Maximum depth: 1437.343041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.343041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719207; longitude = -122.014018; captureRadius = 10; duration = 156; initialDepth = 1392.514397; finalDepth = 1387.343041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1387.343041 # Seafloor depth: -1437.343041 # 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 71 # Segment length 84.624531 meters # Minimum depth: 1442.514397 meters looking forward 0.000000 meters along route # Maximum depth: 1442.514397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.514397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718512; longitude = -122.014180; captureRadius = 10; duration = 169; initialDepth = 1389.387594; finalDepth = 1392.514397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1392.514397 # Seafloor depth: -1442.514397 # 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 71 # Segment length 78.156226 meters # Minimum depth: 1439.387594 meters looking forward 0.000000 meters along route # Maximum depth: 1439.387594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.387594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717762; longitude = -122.014354; captureRadius = 10; duration = 156; initialDepth = 1388.529736; finalDepth = 1389.387594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1389.387594 # Seafloor depth: -1439.387594 # 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 71 # Segment length 84.897503 meters # Minimum depth: 1438.529736 meters looking forward 0.000000 meters along route # Maximum depth: 1438.529736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.529736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717070; longitude = -122.014515; captureRadius = 10; duration = 169; initialDepth = 1388.935521; finalDepth = 1388.529736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.529736 # Seafloor depth: -1438.529736 # 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 71 # Segment length 77.883308 meters # Minimum depth: 1438.935521 meters looking forward 0.000000 meters along route # Maximum depth: 1438.935521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.935521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716318; longitude = -122.014690; captureRadius = 10; duration = 155; initialDepth = 1395.129300; finalDepth = 1388.935521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.935521 # Seafloor depth: -1438.935521 # 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 71 # Segment length 81.341235 meters # Minimum depth: 1445.129300 meters looking forward 0.000000 meters along route # Maximum depth: 1445.129300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.129300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715628; longitude = -122.014850; captureRadius = 10; duration = 162; initialDepth = 1399.639923; finalDepth = 1395.129300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1395.1293 # Seafloor depth: -1445.129300 # 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 to get to end of line 70 # Segment length 124.781904 meters # Minimum depth: 1449.639923 meters looking forward 0.000000 meters along route # Maximum depth: 1449.639923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.639923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714907; longitude = -122.015018; captureRadius = 10; duration = 249; # abortOnTimeout = True; initialDepth = 1407.543067; finalDepth = 1399.639923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1399.639923 # Seafloor depth: -1449.639923 # 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 70 # Segment length 76.271116 meters # Minimum depth: 1457.543067 meters looking forward 0.000000 meters along route # Maximum depth: 1457.543067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.543067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713844; longitude = -122.015474; captureRadius = 10; duration = 152; initialDepth = 1414.532489; finalDepth = 1407.543067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1407.543067 # Seafloor depth: -1457.543067 # 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 70 # Segment length 84.632484 meters # Minimum depth: 1464.532489 meters looking forward 0.000000 meters along route # Maximum depth: 1464.532489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1414.532489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713194; longitude = -122.015753; captureRadius = 10; duration = 169; initialDepth = 1415.848554; finalDepth = 1414.532489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1414.532489 # Seafloor depth: -1464.532489 # 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 70 # Segment length 80.014900 meters # Minimum depth: 1465.848554 meters looking forward 0.000000 meters along route # Maximum depth: 1465.848554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.848554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712473; longitude = -122.016062; captureRadius = 10; duration = 160; initialDepth = 1411.744751; finalDepth = 1415.848554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1415.848554 # Seafloor depth: -1465.848554 # 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 to get to end of line 69 # Segment length 69.384692 meters # Minimum depth: 1461.744751 meters looking forward 0.000000 meters along route # Maximum depth: 1461.744751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.744751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711791; longitude = -122.016354; captureRadius = 10; duration = 138; # abortOnTimeout = True; initialDepth = 1407.100027; finalDepth = 1411.744751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1411.744751 # Seafloor depth: -1461.744751 # 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 69 # Segment length 75.459350 meters # Minimum depth: 1457.100027 meters looking forward 0.000000 meters along route # Maximum depth: 1457.100027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.100027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711211; longitude = -122.016644; captureRadius = 10; duration = 150; initialDepth = 1416.427766; finalDepth = 1407.100027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1407.100027 # Seafloor depth: -1457.100027 # 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 69 # Segment length 75.459424 meters # Minimum depth: 1466.427766 meters looking forward 0.000000 meters along route # Maximum depth: 1466.427766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.427766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710580; longitude = -122.016960; captureRadius = 10; duration = 150; initialDepth = 1423.686593; finalDepth = 1416.427766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1416.427766 # Seafloor depth: -1466.427766 # 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 69 # Segment length 75.459499 meters # Minimum depth: 1473.686593 meters looking forward 0.000000 meters along route # Maximum depth: 1473.686593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.686593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709949; longitude = -122.017275; captureRadius = 10; duration = 150; initialDepth = 1429.207089; finalDepth = 1423.686593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1423.686593 # Seafloor depth: -1473.686593 # 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 69 # Segment length 75.459573 meters # Minimum depth: 1479.207089 meters looking forward 0.000000 meters along route # Maximum depth: 1479.207089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.207089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709318; longitude = -122.017591; captureRadius = 10; duration = 150; initialDepth = 1432.701916; finalDepth = 1429.207089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1429.207089 # Seafloor depth: -1479.207089 # 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 69 # Segment length 75.459648 meters # Minimum depth: 1482.701916 meters looking forward 0.000000 meters along route # Maximum depth: 1482.701916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.701916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708687; longitude = -122.017906; captureRadius = 10; duration = 150; initialDepth = 1432.387107; finalDepth = 1432.701916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1432.701916 # Seafloor depth: -1482.701916 # 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 69 # Segment length 85.735195 meters # Minimum depth: 1482.387107 meters looking forward 0.000000 meters along route # Maximum depth: 1482.387107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.387107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708056; longitude = -122.018222; captureRadius = 10; duration = 171; initialDepth = 1445.167236; finalDepth = 1432.387107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1432.387107 # Seafloor depth: -1482.387107 # 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 to get to end of line 68 # Segment length 131.747002 meters # Minimum depth: 1495.167236 meters looking forward 0.000000 meters along route # Maximum depth: 1495.167236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.167236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707339; longitude = -122.018580; captureRadius = 10; duration = 263; # abortOnTimeout = True; initialDepth = 1447.525447; finalDepth = 1445.167236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1445.167236 # Seafloor depth: -1495.167236 # 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 68 # Segment length 76.553985 meters # Minimum depth: 1497.525447 meters looking forward 0.000000 meters along route # Maximum depth: 1497.525447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.525447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706253; longitude = -122.019177; captureRadius = 10; duration = 153; initialDepth = 1457.096250; finalDepth = 1447.525447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1447.525447 # Seafloor depth: -1497.525447 # 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 68 # Segment length 76.554077 meters # Minimum depth: 1507.096250 meters looking forward 0.000000 meters along route # Maximum depth: 1507.096250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.096250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705622; longitude = -122.019524; captureRadius = 10; duration = 153; initialDepth = 1457.736279; finalDepth = 1457.096250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1457.09625 # Seafloor depth: -1507.096250 # 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 68 # Segment length 75.238100 meters # Minimum depth: 1507.736279 meters looking forward 0.000000 meters along route # Maximum depth: 1507.736279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.736279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704991; longitude = -122.019871; captureRadius = 10; duration = 150; initialDepth = 1458.359222; finalDepth = 1457.736279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1457.736279 # Seafloor depth: -1507.736279 # 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 to get to end of line 67 # Segment length 74.085485 meters # Minimum depth: 1508.359222 meters looking forward 0.000000 meters along route # Maximum depth: 1508.359222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.359222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704371; longitude = -122.020212; captureRadius = 10; duration = 148; # abortOnTimeout = True; initialDepth = 1457.615971; finalDepth = 1458.359222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1458.359222 # Seafloor depth: -1508.359222 # 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 67 # Segment length 80.255309 meters # Minimum depth: 1507.615971 meters looking forward 0.000000 meters along route # Maximum depth: 1507.615971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.615971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703792; longitude = -122.020626; captureRadius = 10; duration = 160; initialDepth = 1459.435691; finalDepth = 1457.615971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1457.615971 # Seafloor depth: -1507.615971 # 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 67 # Segment length 80.255458 meters # Minimum depth: 1509.435691 meters looking forward 0.000000 meters along route # Maximum depth: 1509.435691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.435691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703165; longitude = -122.021074; captureRadius = 10; duration = 160; initialDepth = 1462.134858; finalDepth = 1459.435691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1459.435691 # Seafloor depth: -1509.435691 # 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 67 # Segment length 80.255606 meters # Minimum depth: 1512.134858 meters looking forward 0.000000 meters along route # Maximum depth: 1512.134858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.134858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702538; longitude = -122.021521; captureRadius = 10; duration = 160; initialDepth = 1468.927284; finalDepth = 1462.134858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1462.134858 # Seafloor depth: -1512.134858 # 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 67 # Segment length 83.942919 meters # Minimum depth: 1518.927284 meters looking forward 0.000000 meters along route # Maximum depth: 1518.927284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.927284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701911; longitude = -122.021969; captureRadius = 10; duration = 167; initialDepth = 1481.536896; finalDepth = 1468.927284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1468.927284 # Seafloor depth: -1518.927284 # 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 to get to end of line 66 # Segment length 118.148538 meters # Minimum depth: 1531.536896 meters looking forward 0.000000 meters along route # Maximum depth: 1531.536896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.536896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701255; longitude = -122.022438; captureRadius = 10; duration = 236; # abortOnTimeout = True; initialDepth = 1481.926705; finalDepth = 1481.536896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1481.536896 # Seafloor depth: -1531.536896 # 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 66 # Segment length 76.463130 meters # Minimum depth: 1531.926705 meters looking forward 0.000000 meters along route # Maximum depth: 1531.926705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.926705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700827; longitude = -122.023649; captureRadius = 10; duration = 152; initialDepth = 1485.029843; finalDepth = 1481.926705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1481.926705 # Seafloor depth: -1531.926705 # 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 66 # Segment length 76.463347 meters # Minimum depth: 1535.029843 meters looking forward 0.000000 meters along route # Maximum depth: 1535.029843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.029843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700551; longitude = -122.024433; captureRadius = 10; duration = 152; initialDepth = 1492.817176; finalDepth = 1485.029843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1485.029843 # Seafloor depth: -1535.029843 # 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 66 # Segment length 76.463566 meters # Minimum depth: 1542.817176 meters looking forward 0.000000 meters along route # Maximum depth: 1542.817176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.817176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700274; longitude = -122.025217; captureRadius = 10; duration = 152; initialDepth = 1504.760714; finalDepth = 1492.817176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1492.817176 # Seafloor depth: -1542.817176 # 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 66 # Segment length 76.463783 meters # Minimum depth: 1554.760714 meters looking forward 0.000000 meters along route # Maximum depth: 1554.760714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.760714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699997; longitude = -122.026001; captureRadius = 10; duration = 152; initialDepth = 1505.646389; finalDepth = 1504.760714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1504.760714 # Seafloor depth: -1554.760714 # 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 66 # Segment length 76.464001 meters # Minimum depth: 1555.646389 meters looking forward 0.000000 meters along route # Maximum depth: 1555.646389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.646389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699721; longitude = -122.026785; captureRadius = 10; duration = 152; initialDepth = 1515.117291; finalDepth = 1505.646389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1505.646389 # Seafloor depth: -1555.646389 # 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 66 # Segment length 76.464219 meters # Minimum depth: 1565.117291 meters looking forward 0.000000 meters along route # Maximum depth: 1565.117291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.117291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699444; longitude = -122.027569; captureRadius = 10; duration = 152; initialDepth = 1521.762774; finalDepth = 1515.117291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1515.117291 # Seafloor depth: -1565.117291 # 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 66 # Segment length 84.508327 meters # Minimum depth: 1571.762774 meters looking forward 0.000000 meters along route # Maximum depth: 1571.762774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.762774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699167; longitude = -122.028353; captureRadius = 10; duration = 169; initialDepth = 1521.888613; finalDepth = 1521.762774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1521.762774 # Seafloor depth: -1571.762774 # 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 66 # Segment length 76.717273 meters # Minimum depth: 1571.888613 meters looking forward 0.000000 meters along route # Maximum depth: 1571.888613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.888613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698862; longitude = -122.029219; captureRadius = 10; duration = 153; initialDepth = 1527.766357; finalDepth = 1521.888613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1521.888613 # Seafloor depth: -1571.888613 # 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 to get to end of line 65 # Segment length 73.262501 meters # Minimum depth: 1577.766357 meters looking forward 0.000000 meters along route # Maximum depth: 1577.766357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.766357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.030006; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 1530.313897; finalDepth = 1527.766357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1527.766357 # Seafloor depth: -1577.766357 # 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 65 # Segment length 76.299435 meters # Minimum depth: 1580.313897 meters looking forward 0.000000 meters along route # Maximum depth: 1580.313897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.313897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698411; longitude = -122.030797; captureRadius = 10; duration = 152; initialDepth = 1530.224725; finalDepth = 1530.313897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1530.313897 # Seafloor depth: -1580.313897 # 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 65 # Segment length 76.299590 meters # Minimum depth: 1580.224725 meters looking forward 0.000000 meters along route # Maximum depth: 1580.224725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.224725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698231; longitude = -122.031622; captureRadius = 10; duration = 152; initialDepth = 1531.919405; finalDepth = 1530.224725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1530.224725 # Seafloor depth: -1580.224725 # 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 65 # Segment length 77.284909 meters # Minimum depth: 1581.919405 meters looking forward 0.000000 meters along route # Maximum depth: 1581.919405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.919405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698050; longitude = -122.032446; captureRadius = 10; duration = 154; initialDepth = 1537.088740; finalDepth = 1531.919405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1531.919405 # Seafloor depth: -1581.919405 # 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 65 # Segment length 75.314731 meters # Minimum depth: 1587.088740 meters looking forward 0.000000 meters along route # Maximum depth: 1587.088740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.088740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697868; longitude = -122.033281; captureRadius = 10; duration = 150; initialDepth = 1538.813916; finalDepth = 1537.088740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1537.08874 # Seafloor depth: -1587.088740 # 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 65 # Segment length 76.300051 meters # Minimum depth: 1588.813916 meters looking forward 0.000000 meters along route # Maximum depth: 1588.813916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.813916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697690; longitude = -122.034094; captureRadius = 10; duration = 152; initialDepth = 1541.273299; finalDepth = 1538.813916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1538.813916 # Seafloor depth: -1588.813916 # 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 65 # Segment length 76.468529 meters # Minimum depth: 1591.273299 meters looking forward 0.000000 meters along route # Maximum depth: 1591.273299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.273299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697509; longitude = -122.034919; captureRadius = 10; duration = 152; initialDepth = 1548.098542; finalDepth = 1541.273299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1541.273299 # Seafloor depth: -1591.273299 # 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 65 # Segment length 76.132034 meters # Minimum depth: 1598.098542 meters looking forward 0.000000 meters along route # Maximum depth: 1598.098542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.098542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697329; longitude = -122.035745; captureRadius = 10; duration = 152; initialDepth = 1553.084192; finalDepth = 1548.098542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1548.098542 # Seafloor depth: -1598.098542 # 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 65 # Segment length 76.300512 meters # Minimum depth: 1603.084192 meters looking forward 0.000000 meters along route # Maximum depth: 1603.084192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.084192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697149; longitude = -122.036567; captureRadius = 10; duration = 152; initialDepth = 1556.636122; finalDepth = 1553.084192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1553.084192 # Seafloor depth: -1603.084192 # 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 65 # Segment length 76.300667 meters # Minimum depth: 1606.636122 meters looking forward 0.000000 meters along route # Maximum depth: 1606.636122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.636122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696969; longitude = -122.037391; captureRadius = 10; duration = 152; initialDepth = 1557.336026; finalDepth = 1556.636122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1556.636122 # Seafloor depth: -1606.636122 # 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 65 # Segment length 76.300820 meters # Minimum depth: 1607.336026 meters looking forward 0.000000 meters along route # Maximum depth: 1607.336026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1557.336026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696788; longitude = -122.038215; captureRadius = 10; duration = 152; initialDepth = 1563.905797; finalDepth = 1557.336026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1557.336026 # Seafloor depth: -1607.336026 # 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 65 # Segment length 76.300974 meters # Minimum depth: 1613.905797 meters looking forward 0.000000 meters along route # Maximum depth: 1613.905797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.905797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696608; longitude = -122.039040; captureRadius = 10; duration = 152; initialDepth = 1566.301395; finalDepth = 1563.905797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1563.905797 # Seafloor depth: -1613.905797 # 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 65 # Segment length 76.301128 meters # Minimum depth: 1616.301395 meters looking forward 0.000000 meters along route # Maximum depth: 1616.301395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.301395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696428; longitude = -122.039864; captureRadius = 10; duration = 152; initialDepth = 1572.695019; finalDepth = 1566.301395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1566.301395 # Seafloor depth: -1616.301395 # 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 65 # Segment length 81.475338 meters # Minimum depth: 1622.695019 meters looking forward 0.000000 meters along route # Maximum depth: 1622.695019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.695019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696248; longitude = -122.040688; captureRadius = 10; duration = 162; initialDepth = 1578.464197; finalDepth = 1572.695019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1572.695019 # Seafloor depth: -1622.695019 # 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 65 # Segment length 82.940908 meters # Minimum depth: 1628.464197 meters looking forward 0.000000 meters along route # Maximum depth: 1628.464197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.464197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696055; longitude = -122.041568; captureRadius = 10; duration = 165; initialDepth = 1580.362349; finalDepth = 1578.464197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1578.464197 # Seafloor depth: -1628.464197 # 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 65 # Segment length 82.941091 meters # Minimum depth: 1630.362349 meters looking forward 0.000000 meters along route # Maximum depth: 1630.362349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.362349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695859; longitude = -122.042464; captureRadius = 10; duration = 165; initialDepth = 1587.708623; finalDepth = 1580.362349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1580.362349 # Seafloor depth: -1630.362349 # 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 65 # Segment length 82.568511 meters # Minimum depth: 1637.708623 meters looking forward 0.000000 meters along route # Maximum depth: 1637.708623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.708623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695663; longitude = -122.043360; captureRadius = 10; duration = 165; initialDepth = 1591.661621; finalDepth = 1587.708623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1587.708623 # Seafloor depth: -1637.708623 # 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 to get to end of line 64 # Segment length 71.063113 meters # Minimum depth: 1641.661621 meters looking forward 0.000000 meters along route # Maximum depth: 1641.661621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.661621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695468; longitude = -122.044252; captureRadius = 10; duration = 142; # abortOnTimeout = True; initialDepth = 1589.662314; finalDepth = 1591.661621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1591.661621 # Seafloor depth: -1641.661621 # 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 64 # Segment length 80.799864 meters # Minimum depth: 1639.662314 meters looking forward 0.000000 meters along route # Maximum depth: 1639.662314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.662314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695556; longitude = -122.045040; captureRadius = 10; duration = 161; initialDepth = 1584.874749; finalDepth = 1589.662314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1589.662314 # Seafloor depth: -1639.662314 # 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 64 # Segment length 80.799748 meters # Minimum depth: 1634.874749 meters looking forward 0.000000 meters along route # Maximum depth: 1634.874749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.874749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695655; longitude = -122.045936; captureRadius = 10; duration = 161; initialDepth = 1587.105493; finalDepth = 1584.874749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1584.874749 # Seafloor depth: -1634.874749 # 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 64 # Segment length 80.799632 meters # Minimum depth: 1637.105493 meters looking forward 0.000000 meters along route # Maximum depth: 1637.105493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.105493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695755; longitude = -122.046832; captureRadius = 10; duration = 161; initialDepth = 1595.183706; finalDepth = 1587.105493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1587.105493 # Seafloor depth: -1637.105493 # 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 64 # Segment length 80.799516 meters # Minimum depth: 1645.183706 meters looking forward 0.000000 meters along route # Maximum depth: 1645.183706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.183706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695854; longitude = -122.047728; captureRadius = 10; duration = 161; initialDepth = 1599.797734; finalDepth = 1595.183706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1595.183706 # Seafloor depth: -1645.183706 # 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 64 # Segment length 80.799400 meters # Minimum depth: 1649.797734 meters looking forward 0.000000 meters along route # Maximum depth: 1649.797734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.797734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695954; longitude = -122.048624; captureRadius = 10; duration = 161; initialDepth = 1603.817493; finalDepth = 1599.797734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1599.797734 # Seafloor depth: -1649.797734 # 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 64 # Segment length 84.379330 meters # Minimum depth: 1653.817493 meters looking forward 0.000000 meters along route # Maximum depth: 1653.817493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.817493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696053; longitude = -122.049520; captureRadius = 10; duration = 168; initialDepth = 1607.746894; finalDepth = 1603.817493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1603.817493 # Seafloor depth: -1653.817493 # 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 64 # Segment length 77.219124 meters # Minimum depth: 1657.746894 meters looking forward 0.000000 meters along route # Maximum depth: 1657.746894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.746894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696157; longitude = -122.050455; captureRadius = 10; duration = 154; initialDepth = 1615.803606; finalDepth = 1607.746894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1607.746894 # Seafloor depth: -1657.746894 # 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 64 # Segment length 80.799053 meters # Minimum depth: 1665.803606 meters looking forward 0.000000 meters along route # Maximum depth: 1665.803606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.803606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696253; longitude = -122.051312; captureRadius = 10; duration = 161; initialDepth = 1617.615355; finalDepth = 1615.803606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1615.803606 # Seafloor depth: -1665.803606 # 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 64 # Segment length 80.798937 meters # Minimum depth: 1667.615355 meters looking forward 0.000000 meters along route # Maximum depth: 1667.615355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.615355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696352; longitude = -122.052208; captureRadius = 10; duration = 161; initialDepth = 1623.337747; finalDepth = 1617.615355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1617.615355 # Seafloor depth: -1667.615355 # 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 64 # Segment length 80.798822 meters # Minimum depth: 1673.337747 meters looking forward 0.000000 meters along route # Maximum depth: 1673.337747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.337747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696452; longitude = -122.053103; captureRadius = 10; duration = 161; initialDepth = 1628.346993; finalDepth = 1623.337747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1623.337747 # Seafloor depth: -1673.337747 # 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 64 # Segment length 80.798706 meters # Minimum depth: 1678.346993 meters looking forward 0.000000 meters along route # Maximum depth: 1678.346993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.346993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696551; longitude = -122.053999; captureRadius = 10; duration = 161; initialDepth = 1634.640893; finalDepth = 1628.346993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1628.346993 # Seafloor depth: -1678.346993 # 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 64 # Segment length 80.798590 meters # Minimum depth: 1684.640893 meters looking forward 0.000000 meters along route # Maximum depth: 1684.640893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.640893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696651; longitude = -122.054895; captureRadius = 10; duration = 161; initialDepth = 1635.185710; finalDepth = 1634.640893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1634.640893 # Seafloor depth: -1684.640893 # 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 64 # Segment length 80.798475 meters # Minimum depth: 1685.185710 meters looking forward 0.000000 meters along route # Maximum depth: 1685.185710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.185710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696750; longitude = -122.055791; captureRadius = 10; duration = 161; initialDepth = 1646.973974; finalDepth = 1635.185710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1635.18571 # Seafloor depth: -1685.185710 # 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 64 # Segment length 80.798358 meters # Minimum depth: 1696.973974 meters looking forward 0.000000 meters along route # Maximum depth: 1696.973974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.973974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696850; longitude = -122.056687; captureRadius = 10; duration = 161; initialDepth = 1652.394996; finalDepth = 1646.973974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1646.973974 # Seafloor depth: -1696.973974 # 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 64 # Segment length 80.798244 meters # Minimum depth: 1702.394996 meters looking forward 0.000000 meters along route # Maximum depth: 1702.394996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.394996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696950; longitude = -122.057583; captureRadius = 10; duration = 161; initialDepth = 1656.642148; finalDepth = 1652.394996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1652.394996 # Seafloor depth: -1702.394996 # 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 64 # Segment length 81.022240 meters # Minimum depth: 1706.642148 meters looking forward 0.000000 meters along route # Maximum depth: 1706.642148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.642148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697049; longitude = -122.058479; captureRadius = 10; duration = 162; initialDepth = 1663.745784; finalDepth = 1656.642148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.642148 # Seafloor depth: -1706.642148 # 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 64 # Segment length 81.204676 meters # Minimum depth: 1713.745784 meters looking forward 0.000000 meters along route # Maximum depth: 1713.745784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.745784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697149; longitude = -122.059378; captureRadius = 10; duration = 162; initialDepth = 1667.392548; finalDepth = 1663.745784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1663.745784 # Seafloor depth: -1713.745784 # 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 to get to end of line 63 # Segment length 72.235732 meters # Minimum depth: 1717.392548 meters looking forward 0.000000 meters along route # Maximum depth: 1717.392548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.392548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.060278; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 1672.151192; finalDepth = 1667.392548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1667.392548 # Seafloor depth: -1717.392548 # 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 63 # Segment length 83.298114 meters # Minimum depth: 1722.151192 meters looking forward 0.000000 meters along route # Maximum depth: 1722.151192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.151192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697429; longitude = -122.061055; captureRadius = 10; duration = 166; initialDepth = 1673.458809; finalDepth = 1672.151192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.151192 # Seafloor depth: -1722.151192 # 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 63 # Segment length 83.297892 meters # Minimum depth: 1723.458809 meters looking forward 0.000000 meters along route # Maximum depth: 1723.458809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.458809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697637; longitude = -122.061951; captureRadius = 10; duration = 166; initialDepth = 1678.214678; finalDepth = 1673.458809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.458809 # Seafloor depth: -1723.458809 # 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 63 # Segment length 83.297671 meters # Minimum depth: 1728.214678 meters looking forward 0.000000 meters along route # Maximum depth: 1728.214678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.214678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697845; longitude = -122.062847; captureRadius = 10; duration = 166; initialDepth = 1682.905518; finalDepth = 1678.214678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1678.214678 # Seafloor depth: -1728.214678 # 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 63 # Segment length 83.297451 meters # Minimum depth: 1732.905518 meters looking forward 0.000000 meters along route # Maximum depth: 1732.905518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.905518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698053; longitude = -122.063743; captureRadius = 10; duration = 166; initialDepth = 1686.900398; finalDepth = 1682.905518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.905518 # Seafloor depth: -1732.905518 # 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 63 # Segment length 83.297230 meters # Minimum depth: 1736.900398 meters looking forward 0.000000 meters along route # Maximum depth: 1736.900398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.900398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698261; longitude = -122.064639; captureRadius = 10; duration = 166; initialDepth = 1689.236077; finalDepth = 1686.900398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1686.900398 # Seafloor depth: -1736.900398 # 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 63 # Segment length 84.943050 meters # Minimum depth: 1739.236077 meters looking forward 0.000000 meters along route # Maximum depth: 1739.236077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.236077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698469; longitude = -122.065535; captureRadius = 10; duration = 169; initialDepth = 1692.900262; finalDepth = 1689.236077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1689.236077 # Seafloor depth: -1739.236077 # 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 63 # Segment length 81.650749 meters # Minimum depth: 1742.900262 meters looking forward 0.000000 meters along route # Maximum depth: 1742.900262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.900262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698681; longitude = -122.066448; captureRadius = 10; duration = 163; initialDepth = 1696.593669; finalDepth = 1692.900262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.900262 # Seafloor depth: -1742.900262 # 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 63 # Segment length 83.296568 meters # Minimum depth: 1746.593669 meters looking forward 0.000000 meters along route # Maximum depth: 1746.593669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.593669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698885; longitude = -122.067327; captureRadius = 10; duration = 166; initialDepth = 1703.193438; finalDepth = 1696.593669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.593669 # Seafloor depth: -1746.593669 # 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 63 # Segment length 83.296347 meters # Minimum depth: 1753.193438 meters looking forward 0.000000 meters along route # Maximum depth: 1753.193438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.193438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699093; longitude = -122.068222; captureRadius = 10; duration = 166; initialDepth = 1704.335362; finalDepth = 1703.193438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1703.193438 # Seafloor depth: -1753.193438 # 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 63 # Segment length 76.676307 meters # Minimum depth: 1754.335362 meters looking forward 0.000000 meters along route # Maximum depth: 1754.335362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.335362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699301; longitude = -122.069118; captureRadius = 10; duration = 153; initialDepth = 1706.436912; finalDepth = 1704.335362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1704.335362 # Seafloor depth: -1754.335362 # 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 63 # Segment length 79.503750 meters # Minimum depth: 1756.436912 meters looking forward 0.000000 meters along route # Maximum depth: 1756.436912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.436912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699493; longitude = -122.069943; captureRadius = 10; duration = 159; initialDepth = 1709.013548; finalDepth = 1706.436912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1706.436912 # Seafloor depth: -1756.436912 # 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 63 # Segment length 83.295713 meters # Minimum depth: 1759.013548 meters looking forward 0.000000 meters along route # Maximum depth: 1759.013548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.013548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699691; longitude = -122.070798; captureRadius = 10; duration = 166; initialDepth = 1713.087045; finalDepth = 1709.013548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.013548 # Seafloor depth: -1759.013548 # 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 63 # Segment length 83.295492 meters # Minimum depth: 1763.087045 meters looking forward 0.000000 meters along route # Maximum depth: 1763.087045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.087045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699899; longitude = -122.071694; captureRadius = 10; duration = 166; initialDepth = 1716.382845; finalDepth = 1713.087045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1713.087045 # Seafloor depth: -1763.087045 # 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 63 # Segment length 78.821659 meters # Minimum depth: 1766.382845 meters looking forward 0.000000 meters along route # Maximum depth: 1766.382845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.382845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700107; longitude = -122.072590; captureRadius = 10; duration = 157; initialDepth = 1720.312196; finalDepth = 1716.382845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.382845 # Seafloor depth: -1766.382845 # 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 63 # Segment length 77.356795 meters # Minimum depth: 1770.312196 meters looking forward 0.000000 meters along route # Maximum depth: 1770.312196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.312196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700304; longitude = -122.073438; captureRadius = 10; duration = 154; initialDepth = 1724.241729; finalDepth = 1720.312196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1720.312196 # Seafloor depth: -1770.312196 # 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 63 # Segment length 83.294858 meters # Minimum depth: 1774.241729 meters looking forward 0.000000 meters along route # Maximum depth: 1774.241729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.241729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700497; longitude = -122.074270; captureRadius = 10; duration = 166; initialDepth = 1728.150777; finalDepth = 1724.241729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1724.241729 # Seafloor depth: -1774.241729 # 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 63 # Segment length 83.294638 meters # Minimum depth: 1778.150777 meters looking forward 0.000000 meters along route # Maximum depth: 1778.150777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.150777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700705; longitude = -122.075166; captureRadius = 10; duration = 166; initialDepth = 1731.872190; finalDepth = 1728.150777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.150777 # Seafloor depth: -1778.150777 # 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 63 # Segment length 77.721749 meters # Minimum depth: 1781.872190 meters looking forward 0.000000 meters along route # Maximum depth: 1781.872190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.872190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700913; longitude = -122.076062; captureRadius = 10; duration = 155; initialDepth = 1733.652893; finalDepth = 1731.872190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.87219 # Seafloor depth: -1781.872190 # 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 to get to end of line 62 # Segment length 128.845151 meters # Minimum depth: 1783.652893 meters looking forward 0.000000 meters along route # Maximum depth: 1783.652893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.652893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701107; longitude = -122.076898; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 1737.951204; finalDepth = 1733.652893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1733.652893 # Seafloor depth: -1783.652893 # 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 62 # Segment length 78.187628 meters # Minimum depth: 1787.951204 meters looking forward 0.000000 meters along route # Maximum depth: 1787.951204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.951204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701624; longitude = -122.078190; captureRadius = 10; duration = 156; initialDepth = 1739.400522; finalDepth = 1737.951204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.951204 # Seafloor depth: -1787.951204 # 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 62 # Segment length 78.187363 meters # Minimum depth: 1789.400522 meters looking forward 0.000000 meters along route # Maximum depth: 1789.400522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.400522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701937; longitude = -122.078974; captureRadius = 10; duration = 156; initialDepth = 1744.899837; finalDepth = 1739.400522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.400522 # Seafloor depth: -1789.400522 # 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 62 # Segment length 78.187097 meters # Minimum depth: 1794.899837 meters looking forward 0.000000 meters along route # Maximum depth: 1794.899837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.899837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702250; longitude = -122.079758; captureRadius = 10; duration = 156; initialDepth = 1746.159476; finalDepth = 1744.899837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.899837 # Seafloor depth: -1794.899837 # 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 62 # Segment length 80.614056 meters # Minimum depth: 1796.159476 meters looking forward 0.000000 meters along route # Maximum depth: 1796.159476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.159476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702564; longitude = -122.080542; captureRadius = 10; duration = 161; initialDepth = 1747.235718; finalDepth = 1746.159476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.159476 # Seafloor depth: -1796.159476 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 72.810456 meters # Minimum depth: 1797.235718 meters looking forward 0.000000 meters along route # Maximum depth: 1797.235718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.235718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.081350; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 1751.677131; finalDepth = 1747.235718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1747.235718 # Seafloor depth: -1797.235718 # 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 61 # Segment length 79.637427 meters # Minimum depth: 1801.677131 meters looking forward 0.000000 meters along route # Maximum depth: 1801.677131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.677131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702557; longitude = -122.082055; captureRadius = 10; duration = 159; initialDepth = 1754.750597; finalDepth = 1751.677131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.677131 # Seafloor depth: -1801.677131 # 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 61 # Segment length 79.637693 meters # Minimum depth: 1804.750597 meters looking forward 0.000000 meters along route # Maximum depth: 1804.750597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.750597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702197; longitude = -122.082826; captureRadius = 10; duration = 159; initialDepth = 1759.595656; finalDepth = 1754.750597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.750597 # Seafloor depth: -1804.750597 # 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 61 # Segment length 79.637959 meters # Minimum depth: 1809.595656 meters looking forward 0.000000 meters along route # Maximum depth: 1809.595656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.595656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701836; longitude = -122.083597; captureRadius = 10; duration = 159; initialDepth = 1762.439895; finalDepth = 1759.595656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1759.595656 # Seafloor depth: -1809.595656 # 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 61 # Segment length 79.638225 meters # Minimum depth: 1812.439895 meters looking forward 0.000000 meters along route # Maximum depth: 1812.439895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.439895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701476; longitude = -122.084367; captureRadius = 10; duration = 159; initialDepth = 1766.175203; finalDepth = 1762.439895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.439895 # Seafloor depth: -1812.439895 # 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 61 # Segment length 80.473472 meters # Minimum depth: 1816.175203 meters looking forward 0.000000 meters along route # Maximum depth: 1816.175203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.175203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701115; longitude = -122.085138; captureRadius = 10; duration = 160; initialDepth = 1767.424000; finalDepth = 1766.175203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1766.175203 # Seafloor depth: -1816.175203 # 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 61 # Segment length 80.987417 meters # Minimum depth: 1817.424000 meters looking forward 0.000000 meters along route # Maximum depth: 1817.424000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.424000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700751; longitude = -122.085917; captureRadius = 10; duration = 161; initialDepth = 1770.067409; finalDepth = 1767.424000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.424 # Seafloor depth: -1817.424000 # 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 61 # Segment length 80.987691 meters # Minimum depth: 1820.067409 meters looking forward 0.000000 meters along route # Maximum depth: 1820.067409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.067409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700384; longitude = -122.086701; captureRadius = 10; duration = 161; initialDepth = 1771.786066; finalDepth = 1770.067409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.067409 # Seafloor depth: -1820.067409 # 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 61 # Segment length 76.106978 meters # Minimum depth: 1821.786066 meters looking forward 0.000000 meters along route # Maximum depth: 1821.786066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.786066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700017; longitude = -122.087485; captureRadius = 10; duration = 152; initialDepth = 1772.559280; finalDepth = 1771.786066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1771.786066 # Seafloor depth: -1821.786066 # 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 61 # Segment length 79.639555 meters # Minimum depth: 1822.559280 meters looking forward 0.000000 meters along route # Maximum depth: 1822.559280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.559280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699673; longitude = -122.088222; captureRadius = 10; duration = 159; initialDepth = 1775.501043; finalDepth = 1772.559280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.55928 # Seafloor depth: -1822.559280 # 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 61 # Segment length 79.639820 meters # Minimum depth: 1825.501043 meters looking forward 0.000000 meters along route # Maximum depth: 1825.501043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.501043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699312; longitude = -122.088993; captureRadius = 10; duration = 159; initialDepth = 1777.938508; finalDepth = 1775.501043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.501043 # Seafloor depth: -1825.501043 # 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 61 # Segment length 81.224965 meters # Minimum depth: 1827.938508 meters looking forward 0.000000 meters along route # Maximum depth: 1827.938508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.938508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698952; longitude = -122.089764; captureRadius = 10; duration = 162; initialDepth = 1783.852325; finalDepth = 1777.938508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.938508 # Seafloor depth: -1827.938508 # 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; } # ####################################################### # 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 71.396796 meters # Minimum depth: 1833.852325 meters looking forward 0.000000 meters along route # Maximum depth: 1833.852325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.852325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.090550; captureRadius = 10; duration = 142; # abortOnTimeout = True; initialDepth = 1782.965581; finalDepth = 1783.852325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.852325 # Seafloor depth: -1833.852325 # 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 60 # Segment length 77.025662 meters # Minimum depth: 1832.965581 meters looking forward 0.000000 meters along route # Maximum depth: 1832.965581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.965581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699073; longitude = -122.091069; captureRadius = 10; duration = 154; initialDepth = 1784.179582; finalDepth = 1782.965581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.965581 # Seafloor depth: -1832.965581 # 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 60 # Segment length 77.025436 meters # Minimum depth: 1834.179582 meters looking forward 0.000000 meters along route # Maximum depth: 1834.179582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.179582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699601; longitude = -122.091629; captureRadius = 10; duration = 154; initialDepth = 1787.593479; finalDepth = 1784.179582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.179582 # Seafloor depth: -1834.179582 # 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 60 # Segment length 78.058856 meters # Minimum depth: 1837.593479 meters looking forward 0.000000 meters along route # Maximum depth: 1837.593479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.593479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700129; longitude = -122.092189; captureRadius = 10; duration = 156; initialDepth = 1789.254767; finalDepth = 1787.593479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.593479 # Seafloor depth: -1837.593479 # 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 60 # Segment length 75.991339 meters # Minimum depth: 1839.254767 meters looking forward 0.000000 meters along route # Maximum depth: 1839.254767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.254767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700664; longitude = -122.092756; captureRadius = 10; duration = 151; initialDepth = 1788.452552; finalDepth = 1789.254767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.254767 # Seafloor depth: -1839.254767 # 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 60 # Segment length 77.024758 meters # Minimum depth: 1838.452552 meters looking forward 0.000000 meters along route # Maximum depth: 1838.452552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.452552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701185; longitude = -122.093309; captureRadius = 10; duration = 154; initialDepth = 1791.906031; finalDepth = 1788.452552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.452552 # Seafloor depth: -1838.452552 # 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 60 # Segment length 77.024532 meters # Minimum depth: 1841.906031 meters looking forward 0.000000 meters along route # Maximum depth: 1841.906031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.906031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701713; longitude = -122.093869; captureRadius = 10; duration = 154; initialDepth = 1791.541432; finalDepth = 1791.906031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.906031 # Seafloor depth: -1841.906031 # 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 60 # Segment length 77.024306 meters # Minimum depth: 1841.541432 meters looking forward 0.000000 meters along route # Maximum depth: 1841.541432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.541432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702241; longitude = -122.094429; captureRadius = 10; duration = 154; initialDepth = 1792.858862; finalDepth = 1791.541432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.541432 # Seafloor depth: -1841.541432 # 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 60 # Segment length 77.024080 meters # Minimum depth: 1842.858862 meters looking forward 0.000000 meters along route # Maximum depth: 1842.858862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.858862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702769; longitude = -122.094989; captureRadius = 10; duration = 154; initialDepth = 1793.932477; finalDepth = 1792.858862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.858862 # Seafloor depth: -1842.858862 # 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 60 # Segment length 77.023854 meters # Minimum depth: 1843.932477 meters looking forward 0.000000 meters along route # Maximum depth: 1843.932477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.932477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703297; longitude = -122.095549; captureRadius = 10; duration = 154; initialDepth = 1795.778995; finalDepth = 1793.932477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.932477 # Seafloor depth: -1843.932477 # 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 60 # Segment length 78.046215 meters # Minimum depth: 1845.778995 meters looking forward 0.000000 meters along route # Maximum depth: 1845.778995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.778995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703825; longitude = -122.096109; captureRadius = 10; duration = 156; initialDepth = 1794.902961; finalDepth = 1795.778995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.778995 # Seafloor depth: -1845.778995 # 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 60 # Segment length 78.900401 meters # Minimum depth: 1844.902961 meters looking forward 0.000000 meters along route # Maximum depth: 1844.902961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.902961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704360; longitude = -122.096676; captureRadius = 10; duration = 157; initialDepth = 1791.770191; finalDepth = 1794.902961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.902961 # Seafloor depth: -1844.902961 # 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 60 # Segment length 78.900163 meters # Minimum depth: 1841.770191 meters looking forward 0.000000 meters along route # Maximum depth: 1841.770191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.770191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704901; longitude = -122.097250; captureRadius = 10; duration = 157; initialDepth = 1792.719527; finalDepth = 1791.770191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.770191 # Seafloor depth: -1841.770191 # 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 60 # Segment length 78.899927 meters # Minimum depth: 1842.719527 meters looking forward 0.000000 meters along route # Maximum depth: 1842.719527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.719527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705442; longitude = -122.097823; captureRadius = 10; duration = 157; initialDepth = 1793.335945; finalDepth = 1792.719527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.719527 # Seafloor depth: -1842.719527 # 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 60 # Segment length 78.899689 meters # Minimum depth: 1843.335945 meters looking forward 0.000000 meters along route # Maximum depth: 1843.335945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.335945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705983; longitude = -122.098397; captureRadius = 10; duration = 157; initialDepth = 1787.873395; finalDepth = 1793.335945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.335945 # Seafloor depth: -1843.335945 # 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 60 # Segment length 76.950361 meters # Minimum depth: 1837.873395 meters looking forward 0.000000 meters along route # Maximum depth: 1837.873395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.873395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706524; longitude = -122.098971; captureRadius = 10; duration = 153; initialDepth = 1785.455566; finalDepth = 1787.873395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.873395 # Seafloor depth: -1837.873395 # 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 to get to end of line 59 # Segment length 123.870814 meters # Minimum depth: 1835.455566 meters looking forward 0.000000 meters along route # Maximum depth: 1835.455566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.455566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707051; longitude = -122.099530; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 1787.971242; finalDepth = 1785.455566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.455566 # Seafloor depth: -1835.455566 # 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 59 # Segment length 78.692339 meters # Minimum depth: 1837.971242 meters looking forward 0.000000 meters along route # Maximum depth: 1837.971242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.971242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707335; longitude = -122.100871; captureRadius = 10; duration = 157; initialDepth = 1784.018392; finalDepth = 1787.971242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.971242 # Seafloor depth: -1837.971242 # 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 59 # Segment length 81.365907 meters # Minimum depth: 1834.018392 meters looking forward 0.000000 meters along route # Maximum depth: 1834.018392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.018392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707515; longitude = -122.101723; captureRadius = 10; duration = 162; initialDepth = 1778.135017; finalDepth = 1784.018392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.018392 # Seafloor depth: -1834.018392 # 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 59 # Segment length 76.018220 meters # Minimum depth: 1828.135017 meters looking forward 0.000000 meters along route # Maximum depth: 1828.135017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.135017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707701; longitude = -122.102604; captureRadius = 10; duration = 152; initialDepth = 1778.106314; finalDepth = 1778.135017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.135017 # Seafloor depth: -1828.135017 # 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 59 # Segment length 79.128094 meters # Minimum depth: 1828.106314 meters looking forward 0.000000 meters along route # Maximum depth: 1828.106314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.106314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707876; longitude = -122.103427; captureRadius = 10; duration = 158; initialDepth = 1779.222779; finalDepth = 1778.106314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.106314 # Seafloor depth: -1828.106314 # 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 59 # Segment length 78.255298 meters # Minimum depth: 1829.222779 meters looking forward 0.000000 meters along route # Maximum depth: 1829.222779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.222779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708057; longitude = -122.104284; captureRadius = 10; duration = 156; initialDepth = 1775.766168; finalDepth = 1779.222779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1779.222779 # Seafloor depth: -1829.222779 # 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 59 # Segment length 78.691420 meters # Minimum depth: 1825.766168 meters looking forward 0.000000 meters along route # Maximum depth: 1825.766168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.766168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708236; longitude = -122.105132; captureRadius = 10; duration = 157; initialDepth = 1772.188681; finalDepth = 1775.766168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.766168 # Seafloor depth: -1825.766168 # 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 59 # Segment length 80.942910 meters # Minimum depth: 1822.188681 meters looking forward 0.000000 meters along route # Maximum depth: 1822.188681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.188681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708416; longitude = -122.105984; captureRadius = 10; duration = 161; initialDepth = 1767.917466; finalDepth = 1772.188681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.188681 # Seafloor depth: -1822.188681 # 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 59 # Segment length 76.439381 meters # Minimum depth: 1817.917466 meters looking forward 0.000000 meters along route # Maximum depth: 1817.917466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.917466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708602; longitude = -122.106860; captureRadius = 10; duration = 152; initialDepth = 1759.553445; finalDepth = 1767.917466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.917466 # Seafloor depth: -1817.917466 # 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 59 # Segment length 78.705124 meters # Minimum depth: 1809.553445 meters looking forward 0.000000 meters along route # Maximum depth: 1809.553445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.553445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708777; longitude = -122.107688; captureRadius = 10; duration = 157; initialDepth = 1752.298139; finalDepth = 1759.553445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1759.553445 # Seafloor depth: -1809.553445 # 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 59 # Segment length 78.676432 meters # Minimum depth: 1802.298139 meters looking forward 0.000000 meters along route # Maximum depth: 1802.298139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.298139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708957; longitude = -122.108540; captureRadius = 10; duration = 157; initialDepth = 1743.523901; finalDepth = 1752.298139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.298139 # Seafloor depth: -1802.298139 # 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 59 # Segment length 78.690503 meters # Minimum depth: 1793.523901 meters looking forward 0.000000 meters along route # Maximum depth: 1793.523901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.523901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709138; longitude = -122.109392; captureRadius = 10; duration = 157; initialDepth = 1727.903276; finalDepth = 1743.523901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.523901 # Seafloor depth: -1793.523901 # 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 59 # Segment length 80.519922 meters # Minimum depth: 1777.903276 meters looking forward 0.000000 meters along route # Maximum depth: 1777.903276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.903276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709318; longitude = -122.110244; captureRadius = 10; duration = 161; initialDepth = 1709.703469; finalDepth = 1727.903276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.903276 # Seafloor depth: -1777.903276 # 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 59 # Segment length 76.860533 meters # Minimum depth: 1759.703469 meters looking forward 0.000000 meters along route # Maximum depth: 1759.703469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.703469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709502; longitude = -122.111116; captureRadius = 10; duration = 153; initialDepth = 1701.777791; finalDepth = 1709.703469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.703469 # Seafloor depth: -1759.703469 # 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 59 # Segment length 78.689952 meters # Minimum depth: 1751.777791 meters looking forward 0.000000 meters along route # Maximum depth: 1751.777791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.777791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709678; longitude = -122.111948; captureRadius = 10; duration = 157; initialDepth = 1693.312711; finalDepth = 1701.777791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1701.777791 # Seafloor depth: -1751.777791 # 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 59 # Segment length 82.334693 meters # Minimum depth: 1743.312711 meters looking forward 0.000000 meters along route # Maximum depth: 1743.312711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.312711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709859; longitude = -122.112800; captureRadius = 10; duration = 164; initialDepth = 1687.166897; finalDepth = 1693.312711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.312711 # Seafloor depth: -1743.312711 # 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 59 # Segment length 75.044660 meters # Minimum depth: 1737.166897 meters looking forward 0.000000 meters along route # Maximum depth: 1737.166897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.166897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710047; longitude = -122.113692; captureRadius = 10; duration = 150; initialDepth = 1683.135838; finalDepth = 1687.166897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1687.166897 # Seafloor depth: -1737.166897 # 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 59 # Segment length 80.096945 meters # Minimum depth: 1733.135838 meters looking forward 0.000000 meters along route # Maximum depth: 1733.135838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.135838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710219; longitude = -122.114504; captureRadius = 10; duration = 160; initialDepth = 1673.050552; finalDepth = 1683.135838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1683.135838 # Seafloor depth: -1733.135838 # 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 59 # Segment length 82.741897 meters # Minimum depth: 1723.050552 meters looking forward 0.000000 meters along route # Maximum depth: 1723.050552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.050552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710403; longitude = -122.115371; captureRadius = 10; duration = 165; initialDepth = 1658.978532; finalDepth = 1673.050552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.050552 # Seafloor depth: -1723.050552 # 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 59 # Segment length 84.092046 meters # Minimum depth: 1708.978532 meters looking forward 0.000000 meters along route # Maximum depth: 1708.978532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.978532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710592; longitude = -122.116267; captureRadius = 10; duration = 168; initialDepth = 1656.596375; finalDepth = 1658.978532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.978532 # Seafloor depth: -1708.978532 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 58 # Segment length 90.231593 meters # Minimum depth: 1706.596375 meters looking forward 0.000000 meters along route # Maximum depth: 1706.596375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.596375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710785; longitude = -122.117178; captureRadius = 10; duration = 180; # abortOnTimeout = True; initialDepth = 1654.261488; finalDepth = 1656.596375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.596375 # Seafloor depth: -1706.596375 # 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 58 # Segment length 76.404144 meters # Minimum depth: 1704.261488 meters looking forward 0.000000 meters along route # Maximum depth: 1704.261488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.261488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711211; longitude = -122.116317; captureRadius = 10; duration = 152; initialDepth = 1665.574742; finalDepth = 1654.261488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1654.261488 # Seafloor depth: -1704.261488 # 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 58 # Segment length 76.403896 meters # Minimum depth: 1715.574742 meters looking forward 0.000000 meters along route # Maximum depth: 1715.574742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.574742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711571; longitude = -122.115588; captureRadius = 10; duration = 152; initialDepth = 1669.525541; finalDepth = 1665.574742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.574742 # Seafloor depth: -1715.574742 # 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 58 # Segment length 76.403647 meters # Minimum depth: 1719.525541 meters looking forward 0.000000 meters along route # Maximum depth: 1719.525541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.525541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711932; longitude = -122.114860; captureRadius = 10; duration = 152; initialDepth = 1665.888336; finalDepth = 1669.525541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.525541 # Seafloor depth: -1719.525541 # 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 58 # Segment length 76.403400 meters # Minimum depth: 1715.888336 meters looking forward 0.000000 meters along route # Maximum depth: 1715.888336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.888336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712292; longitude = -122.114131; captureRadius = 10; duration = 152; initialDepth = 1656.170767; finalDepth = 1665.888336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.888336 # Seafloor depth: -1715.888336 # 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 58 # Segment length 76.403151 meters # Minimum depth: 1706.170767 meters looking forward 0.000000 meters along route # Maximum depth: 1706.170767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.170767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712653; longitude = -122.113402; captureRadius = 10; duration = 152; initialDepth = 1660.538852; finalDepth = 1656.170767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.170767 # Seafloor depth: -1706.170767 # 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 58 # Segment length 76.402902 meters # Minimum depth: 1710.538852 meters looking forward 0.000000 meters along route # Maximum depth: 1710.538852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.538852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713014; longitude = -122.112673; captureRadius = 10; duration = 152; initialDepth = 1664.825860; finalDepth = 1660.538852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1660.538852 # Seafloor depth: -1710.538852 # 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 58 # Segment length 76.402655 meters # Minimum depth: 1714.825860 meters looking forward 0.000000 meters along route # Maximum depth: 1714.825860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.825860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713374; longitude = -122.111944; captureRadius = 10; duration = 152; initialDepth = 1675.895073; finalDepth = 1664.825860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1664.82586 # Seafloor depth: -1714.825860 # 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 58 # Segment length 76.402406 meters # Minimum depth: 1725.895073 meters looking forward 0.000000 meters along route # Maximum depth: 1725.895073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.895073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713735; longitude = -122.111216; captureRadius = 10; duration = 152; initialDepth = 1671.481907; finalDepth = 1675.895073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1675.895073 # Seafloor depth: -1725.895073 # 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 58 # Segment length 76.402158 meters # Minimum depth: 1721.481907 meters looking forward 0.000000 meters along route # Maximum depth: 1721.481907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.481907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714095; longitude = -122.110487; captureRadius = 10; duration = 152; initialDepth = 1658.168564; finalDepth = 1671.481907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671.481907 # Seafloor depth: -1721.481907 # 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 58 # Segment length 76.401910 meters # Minimum depth: 1708.168564 meters looking forward 0.000000 meters along route # Maximum depth: 1708.168564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.168564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714456; longitude = -122.109758; captureRadius = 10; duration = 152; initialDepth = 1664.446608; finalDepth = 1658.168564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.168564 # Seafloor depth: -1708.168564 # 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 58 # Segment length 76.401662 meters # Minimum depth: 1714.446608 meters looking forward 0.000000 meters along route # Maximum depth: 1714.446608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.446608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714816; longitude = -122.109029; captureRadius = 10; duration = 152; initialDepth = 1670.372237; finalDepth = 1664.446608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1664.446608 # Seafloor depth: -1714.446608 # 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 58 # Segment length 76.401414 meters # Minimum depth: 1720.372237 meters looking forward 0.000000 meters along route # Maximum depth: 1720.372237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.372237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715177; longitude = -122.108300; captureRadius = 10; duration = 152; initialDepth = 1663.503258; finalDepth = 1670.372237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1670.372237 # Seafloor depth: -1720.372237 # 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 58 # Segment length 76.401165 meters # Minimum depth: 1713.503258 meters looking forward 0.000000 meters along route # Maximum depth: 1713.503258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.503258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715538; longitude = -122.107571; captureRadius = 10; duration = 152; initialDepth = 1669.134643; finalDepth = 1663.503258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1663.503258 # Seafloor depth: -1713.503258 # 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 58 # Segment length 76.400917 meters # Minimum depth: 1719.134643 meters looking forward 0.000000 meters along route # Maximum depth: 1719.134643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.134643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715898; longitude = -122.106843; captureRadius = 10; duration = 152; initialDepth = 1674.213477; finalDepth = 1669.134643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.134643 # Seafloor depth: -1719.134643 # 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 58 # Segment length 76.400669 meters # Minimum depth: 1724.213477 meters looking forward 0.000000 meters along route # Maximum depth: 1724.213477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.213477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716259; longitude = -122.106114; captureRadius = 10; duration = 152; initialDepth = 1665.450437; finalDepth = 1674.213477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1674.213477 # Seafloor depth: -1724.213477 # 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 58 # Segment length 80.164565 meters # Minimum depth: 1715.450437 meters looking forward 0.000000 meters along route # Maximum depth: 1715.450437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.450437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716619; longitude = -122.105385; captureRadius = 10; duration = 160; initialDepth = 1656.112730; finalDepth = 1665.450437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.450437 # Seafloor depth: -1715.450437 # 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 58 # Segment length 82.178772 meters # Minimum depth: 1706.112730 meters looking forward 0.000000 meters along route # Maximum depth: 1706.112730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.112730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716998; longitude = -122.104620; captureRadius = 10; duration = 164; initialDepth = 1651.054532; finalDepth = 1656.112730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.11273 # Seafloor depth: -1706.112730 # 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 58 # Segment length 79.377307 meters # Minimum depth: 1701.054532 meters looking forward 0.000000 meters along route # Maximum depth: 1701.054532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.054532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717385; longitude = -122.103836; captureRadius = 10; duration = 158; initialDepth = 1642.330292; finalDepth = 1651.054532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1651.054532 # Seafloor depth: -1701.054532 # 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; } # ####################################################### # 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 66.372236 meters # Minimum depth: 1692.330292 meters looking forward 0.000000 meters along route # Maximum depth: 1692.330292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.330292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717760; longitude = -122.103079; captureRadius = 10; duration = 132; # abortOnTimeout = True; initialDepth = 1648.757379; finalDepth = 1642.330292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1642.330292 # Seafloor depth: -1692.330292 # 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 57 # Segment length 83.613208 meters # Minimum depth: 1698.757379 meters looking forward 0.000000 meters along route # Maximum depth: 1698.757379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.757379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717250; longitude = -122.102690; captureRadius = 10; duration = 167; initialDepth = 1647.738892; finalDepth = 1648.757379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.757379 # Seafloor depth: -1698.757379 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 56 # Segment length 93.116720 meters # Minimum depth: 1697.738892 meters looking forward 0.000000 meters along route # Maximum depth: 1697.738892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.738892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716608; longitude = -122.102200; captureRadius = 10; duration = 186; # abortOnTimeout = True; initialDepth = 1666.063105; finalDepth = 1647.738892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1647.738892 # Seafloor depth: -1697.738892 # 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 56 # Segment length 76.397089 meters # Minimum depth: 1716.063105 meters looking forward 0.000000 meters along route # Maximum depth: 1716.063105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.063105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716169; longitude = -122.103088; captureRadius = 10; duration = 152; initialDepth = 1684.284358; finalDepth = 1666.063105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1666.063105 # Seafloor depth: -1716.063105 # 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 56 # Segment length 76.397337 meters # Minimum depth: 1734.284358 meters looking forward 0.000000 meters along route # Maximum depth: 1734.284358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.284358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715808; longitude = -122.103817; captureRadius = 10; duration = 152; initialDepth = 1689.141193; finalDepth = 1684.284358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.284358 # Seafloor depth: -1734.284358 # 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 56 # Segment length 76.397585 meters # Minimum depth: 1739.141193 meters looking forward 0.000000 meters along route # Maximum depth: 1739.141193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.141193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715447; longitude = -122.104546; captureRadius = 10; duration = 152; initialDepth = 1694.734444; finalDepth = 1689.141193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1689.141193 # Seafloor depth: -1739.141193 # 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 56 # Segment length 76.397833 meters # Minimum depth: 1744.734444 meters looking forward 0.000000 meters along route # Maximum depth: 1744.734444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.734444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715087; longitude = -122.105275; captureRadius = 10; duration = 152; initialDepth = 1700.849245; finalDepth = 1694.734444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1694.734444 # Seafloor depth: -1744.734444 # 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 56 # Segment length 76.398081 meters # Minimum depth: 1750.849245 meters looking forward 0.000000 meters along route # Maximum depth: 1750.849245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.849245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714726; longitude = -122.106003; captureRadius = 10; duration = 152; initialDepth = 1692.037769; finalDepth = 1700.849245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.849245 # Seafloor depth: -1750.849245 # 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 56 # Segment length 76.398330 meters # Minimum depth: 1742.037769 meters looking forward 0.000000 meters along route # Maximum depth: 1742.037769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.037769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714366; longitude = -122.106732; captureRadius = 10; duration = 152; initialDepth = 1692.977876; finalDepth = 1692.037769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.037769 # Seafloor depth: -1742.037769 # 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 56 # Segment length 76.398577 meters # Minimum depth: 1742.977876 meters looking forward 0.000000 meters along route # Maximum depth: 1742.977876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.977876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714005; longitude = -122.107461; captureRadius = 10; duration = 152; initialDepth = 1688.860173; finalDepth = 1692.977876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.977876 # Seafloor depth: -1742.977876 # 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 56 # Segment length 76.398826 meters # Minimum depth: 1738.860173 meters looking forward 0.000000 meters along route # Maximum depth: 1738.860173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.860173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713645; longitude = -122.108190; captureRadius = 10; duration = 152; initialDepth = 1684.356128; finalDepth = 1688.860173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1688.860173 # Seafloor depth: -1738.860173 # 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 56 # Segment length 77.723369 meters # Minimum depth: 1734.356128 meters looking forward 0.000000 meters along route # Maximum depth: 1734.356128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.356128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713284; longitude = -122.108918; captureRadius = 10; duration = 155; initialDepth = 1696.629643; finalDepth = 1684.356128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.356128 # Seafloor depth: -1734.356128 # 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 56 # Segment length 75.075027 meters # Minimum depth: 1746.629643 meters looking forward 0.000000 meters along route # Maximum depth: 1746.629643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.629643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712917; longitude = -122.109660; captureRadius = 10; duration = 150; initialDepth = 1698.657665; finalDepth = 1696.629643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.629643 # Seafloor depth: -1746.629643 # 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 56 # Segment length 77.552118 meters # Minimum depth: 1748.657665 meters looking forward 0.000000 meters along route # Maximum depth: 1748.657665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.657665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712563; longitude = -122.110376; captureRadius = 10; duration = 155; initialDepth = 1689.505305; finalDepth = 1698.657665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.657665 # Seafloor depth: -1748.657665 # 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 56 # Segment length 75.247271 meters # Minimum depth: 1739.505305 meters looking forward 0.000000 meters along route # Maximum depth: 1739.505305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.505305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712197; longitude = -122.111116; captureRadius = 10; duration = 150; initialDepth = 1681.740634; finalDepth = 1689.505305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1689.505305 # Seafloor depth: -1739.505305 # 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 56 # Segment length 77.380864 meters # Minimum depth: 1731.740634 meters looking forward 0.000000 meters along route # Maximum depth: 1731.740634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.740634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711842; longitude = -122.111834; captureRadius = 10; duration = 154; initialDepth = 1679.840588; finalDepth = 1681.740634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.740634 # Seafloor depth: -1731.740634 # 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 56 # Segment length 75.419518 meters # Minimum depth: 1729.840588 meters looking forward 0.000000 meters along route # Maximum depth: 1729.840588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.840588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711477; longitude = -122.112572; captureRadius = 10; duration = 150; initialDepth = 1685.537166; finalDepth = 1679.840588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.840588 # Seafloor depth: -1729.840588 # 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 56 # Segment length 77.209608 meters # Minimum depth: 1735.537166 meters looking forward 0.000000 meters along route # Maximum depth: 1735.537166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.537166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711121; longitude = -122.113291; captureRadius = 10; duration = 154; initialDepth = 1683.168390; finalDepth = 1685.537166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1685.537166 # Seafloor depth: -1735.537166 # 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 56 # Segment length 75.591766 meters # Minimum depth: 1733.168390 meters looking forward 0.000000 meters along route # Maximum depth: 1733.168390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.168390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710756; longitude = -122.114028; captureRadius = 10; duration = 151; initialDepth = 1679.742145; finalDepth = 1683.168390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1683.16839 # Seafloor depth: -1733.168390 # 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 56 # Segment length 77.038350 meters # Minimum depth: 1729.742145 meters looking forward 0.000000 meters along route # Maximum depth: 1729.742145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.742145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710400; longitude = -122.114749; captureRadius = 10; duration = 154; initialDepth = 1672.765909; finalDepth = 1679.742145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.742145 # Seafloor depth: -1729.742145 # 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 56 # Segment length 85.390137 meters # Minimum depth: 1722.765909 meters looking forward 0.000000 meters along route # Maximum depth: 1722.765909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.765909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710036; longitude = -122.115483; captureRadius = 10; duration = 170; initialDepth = 1681.860840; finalDepth = 1672.765909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.765909 # Seafloor depth: -1722.765909 # 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; } # ####################################################### # 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 64.502228 meters # Minimum depth: 1731.860840 meters looking forward 0.000000 meters along route # Maximum depth: 1731.860840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.860840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709633; longitude = -122.116298; captureRadius = 10; duration = 129; # abortOnTimeout = True; initialDepth = 1691.346259; finalDepth = 1681.860840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.86084 # Seafloor depth: -1731.860840 # 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 55 # Segment length 85.487050 meters # Minimum depth: 1741.346259 meters looking forward 0.000000 meters along route # Maximum depth: 1741.346259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.346259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709138; longitude = -122.115920; captureRadius = 10; duration = 170; initialDepth = 1707.172302; finalDepth = 1691.346259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.346259 # Seafloor depth: -1741.346259 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 54 # Segment length 100.928316 meters # Minimum depth: 1757.172302 meters looking forward 0.000000 meters along route # Maximum depth: 1757.172302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.172302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708481; longitude = -122.115419; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 1691.141247; finalDepth = 1707.172302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.172302 # Seafloor depth: -1757.172302 # 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 54 # Segment length 76.401847 meters # Minimum depth: 1741.141247 meters looking forward 0.000000 meters along route # Maximum depth: 1741.141247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.141247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708957; longitude = -122.114456; captureRadius = 10; duration = 152; initialDepth = 1694.615746; finalDepth = 1691.141247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.141247 # Seafloor depth: -1741.141247 # 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 54 # Segment length 76.401599 meters # Minimum depth: 1744.615746 meters looking forward 0.000000 meters along route # Maximum depth: 1744.615746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.615746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709318; longitude = -122.113728; captureRadius = 10; duration = 152; initialDepth = 1692.599168; finalDepth = 1694.615746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1694.615746 # Seafloor depth: -1744.615746 # 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 54 # Segment length 76.401350 meters # Minimum depth: 1742.599168 meters looking forward 0.000000 meters along route # Maximum depth: 1742.599168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.599168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709678; longitude = -122.112999; captureRadius = 10; duration = 152; initialDepth = 1698.799587; finalDepth = 1692.599168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.599168 # Seafloor depth: -1742.599168 # 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 54 # Segment length 76.401102 meters # Minimum depth: 1748.799587 meters looking forward 0.000000 meters along route # Maximum depth: 1748.799587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.799587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710039; longitude = -122.112270; captureRadius = 10; duration = 152; initialDepth = 1706.907705; finalDepth = 1698.799587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.799587 # Seafloor depth: -1748.799587 # 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 54 # Segment length 76.400854 meters # Minimum depth: 1756.907705 meters looking forward 0.000000 meters along route # Maximum depth: 1756.907705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.907705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710400; longitude = -122.111541; captureRadius = 10; duration = 152; initialDepth = 1707.486177; finalDepth = 1706.907705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1706.907705 # Seafloor depth: -1756.907705 # 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 54 # Segment length 76.400606 meters # Minimum depth: 1757.486177 meters looking forward 0.000000 meters along route # Maximum depth: 1757.486177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.486177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710760; longitude = -122.110812; captureRadius = 10; duration = 152; initialDepth = 1701.427537; finalDepth = 1707.486177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.486177 # Seafloor depth: -1757.486177 # 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 54 # Segment length 76.400358 meters # Minimum depth: 1751.427537 meters looking forward 0.000000 meters along route # Maximum depth: 1751.427537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.427537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711121; longitude = -122.110084; captureRadius = 10; duration = 152; initialDepth = 1714.280202; finalDepth = 1701.427537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1701.427537 # Seafloor depth: -1751.427537 # 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 54 # Segment length 76.400109 meters # Minimum depth: 1764.280202 meters looking forward 0.000000 meters along route # Maximum depth: 1764.280202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.280202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711481; longitude = -122.109355; captureRadius = 10; duration = 152; initialDepth = 1715.422152; finalDepth = 1714.280202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.280202 # Seafloor depth: -1764.280202 # 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 54 # Segment length 76.399862 meters # Minimum depth: 1765.422152 meters looking forward 0.000000 meters along route # Maximum depth: 1765.422152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.422152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711842; longitude = -122.108626; captureRadius = 10; duration = 152; initialDepth = 1711.315166; finalDepth = 1715.422152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1715.422152 # Seafloor depth: -1765.422152 # 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 54 # Segment length 76.399613 meters # Minimum depth: 1761.315166 meters looking forward 0.000000 meters along route # Maximum depth: 1761.315166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.315166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712202; longitude = -122.107897; captureRadius = 10; duration = 152; initialDepth = 1714.552546; finalDepth = 1711.315166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1711.315166 # Seafloor depth: -1761.315166 # 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 54 # Segment length 76.399365 meters # Minimum depth: 1764.552546 meters looking forward 0.000000 meters along route # Maximum depth: 1764.552546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.552546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712563; longitude = -122.107169; captureRadius = 10; duration = 152; initialDepth = 1716.917467; finalDepth = 1714.552546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.552546 # Seafloor depth: -1764.552546 # 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 54 # Segment length 76.399117 meters # Minimum depth: 1766.917467 meters looking forward 0.000000 meters along route # Maximum depth: 1766.917467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.917467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712923; longitude = -122.106440; captureRadius = 10; duration = 152; initialDepth = 1714.247408; finalDepth = 1716.917467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.917467 # Seafloor depth: -1766.917467 # 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 54 # Segment length 76.398869 meters # Minimum depth: 1764.247408 meters looking forward 0.000000 meters along route # Maximum depth: 1764.247408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.247408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713284; longitude = -122.105711; captureRadius = 10; duration = 152; initialDepth = 1706.674430; finalDepth = 1714.247408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.247408 # Seafloor depth: -1764.247408 # 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 54 # Segment length 76.398620 meters # Minimum depth: 1756.674430 meters looking forward 0.000000 meters along route # Maximum depth: 1756.674430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.674430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713645; longitude = -122.104982; captureRadius = 10; duration = 152; initialDepth = 1700.161828; finalDepth = 1706.674430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1706.67443 # Seafloor depth: -1756.674430 # 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 54 # Segment length 76.398373 meters # Minimum depth: 1750.161828 meters looking forward 0.000000 meters along route # Maximum depth: 1750.161828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.161828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714005; longitude = -122.104253; captureRadius = 10; duration = 152; initialDepth = 1688.934400; finalDepth = 1700.161828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.161828 # Seafloor depth: -1750.161828 # 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 54 # Segment length 76.398124 meters # Minimum depth: 1738.934400 meters looking forward 0.000000 meters along route # Maximum depth: 1738.934400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.934400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714366; longitude = -122.103525; captureRadius = 10; duration = 152; initialDepth = 1671.018029; finalDepth = 1688.934400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1688.9344 # Seafloor depth: -1738.934400 # 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 54 # Segment length 78.788171 meters # Minimum depth: 1721.018029 meters looking forward 0.000000 meters along route # Maximum depth: 1721.018029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.018029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714726; longitude = -122.102796; captureRadius = 10; duration = 157; initialDepth = 1658.688790; finalDepth = 1671.018029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671.018029 # Seafloor depth: -1721.018029 # 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 54 # Segment length 75.828321 meters # Minimum depth: 1708.688790 meters looking forward 0.000000 meters along route # Maximum depth: 1708.688790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.688790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715098; longitude = -122.102044; captureRadius = 10; duration = 151; initialDepth = 1665.454468; finalDepth = 1658.688790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.68879 # Seafloor depth: -1708.688790 # 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; } # ####################################################### # 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 71.534692 meters # Minimum depth: 1715.454468 meters looking forward 0.000000 meters along route # Maximum depth: 1715.454468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.454468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715456; longitude = -122.101321; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 1690.717588; finalDepth = 1665.454468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.454468 # Seafloor depth: -1715.454468 # 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 53 # Segment length 78.451983 meters # Minimum depth: 1740.717588 meters looking forward 0.000000 meters along route # Maximum depth: 1740.717588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.717588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714907; longitude = -122.100902; captureRadius = 10; duration = 156; initialDepth = 1701.880829; finalDepth = 1690.717588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1690.717588 # Seafloor depth: -1740.717588 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 52 # Segment length 101.519494 meters # Minimum depth: 1751.880829 meters looking forward 0.000000 meters along route # Maximum depth: 1751.880829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.880829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714304; longitude = -122.100442; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 1710.530455; finalDepth = 1701.880829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1701.880829 # Seafloor depth: -1751.880829 # 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 52 # Segment length 76.398788 meters # Minimum depth: 1760.530455 meters looking forward 0.000000 meters along route # Maximum depth: 1760.530455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.530455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713825; longitude = -122.101410; captureRadius = 10; duration = 152; initialDepth = 1709.879203; finalDepth = 1710.530455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.530455 # Seafloor depth: -1760.530455 # 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 52 # Segment length 76.399036 meters # Minimum depth: 1759.879203 meters looking forward 0.000000 meters along route # Maximum depth: 1759.879203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.879203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713464; longitude = -122.102139; captureRadius = 10; duration = 152; initialDepth = 1707.837361; finalDepth = 1709.879203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.879203 # Seafloor depth: -1759.879203 # 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 52 # Segment length 76.399284 meters # Minimum depth: 1757.837361 meters looking forward 0.000000 meters along route # Maximum depth: 1757.837361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.837361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713104; longitude = -122.102868; captureRadius = 10; duration = 152; initialDepth = 1698.819199; finalDepth = 1707.837361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.837361 # Seafloor depth: -1757.837361 # 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 52 # Segment length 76.399532 meters # Minimum depth: 1748.819199 meters looking forward 0.000000 meters along route # Maximum depth: 1748.819199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.819199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712743; longitude = -122.103597; captureRadius = 10; duration = 152; initialDepth = 1705.417531; finalDepth = 1698.819199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.819199 # Seafloor depth: -1748.819199 # 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 52 # Segment length 76.399780 meters # Minimum depth: 1755.417531 meters looking forward 0.000000 meters along route # Maximum depth: 1755.417531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.417531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712383; longitude = -122.104325; captureRadius = 10; duration = 152; initialDepth = 1718.153830; finalDepth = 1705.417531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.417531 # Seafloor depth: -1755.417531 # 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 52 # Segment length 76.400029 meters # Minimum depth: 1768.153830 meters looking forward 0.000000 meters along route # Maximum depth: 1768.153830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.153830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712022; longitude = -122.105054; captureRadius = 10; duration = 152; initialDepth = 1729.678847; finalDepth = 1718.153830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.15383 # Seafloor depth: -1768.153830 # 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 52 # Segment length 77.683727 meters # Minimum depth: 1779.678847 meters looking forward 0.000000 meters along route # Maximum depth: 1779.678847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.678847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711662; longitude = -122.105783; captureRadius = 10; duration = 155; initialDepth = 1739.973927; finalDepth = 1729.678847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1729.678847 # Seafloor depth: -1779.678847 # 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 52 # Segment length 75.117074 meters # Minimum depth: 1789.973927 meters looking forward 0.000000 meters along route # Maximum depth: 1789.973927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.973927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711295; longitude = -122.106524; captureRadius = 10; duration = 150; initialDepth = 1741.477045; finalDepth = 1739.973927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.973927 # Seafloor depth: -1789.973927 # 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 52 # Segment length 77.512473 meters # Minimum depth: 1791.477045 meters looking forward 0.000000 meters along route # Maximum depth: 1791.477045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.477045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710940; longitude = -122.107241; captureRadius = 10; duration = 155; initialDepth = 1738.852452; finalDepth = 1741.477045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1741.477045 # Seafloor depth: -1791.477045 # 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 52 # Segment length 75.289321 meters # Minimum depth: 1788.852452 meters looking forward 0.000000 meters along route # Maximum depth: 1788.852452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.852452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710575; longitude = -122.107980; captureRadius = 10; duration = 150; initialDepth = 1729.785303; finalDepth = 1738.852452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.852452 # Seafloor depth: -1788.852452 # 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 52 # Segment length 77.341217 meters # Minimum depth: 1779.785303 meters looking forward 0.000000 meters along route # Maximum depth: 1779.785303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.785303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710219; longitude = -122.108698; captureRadius = 10; duration = 154; initialDepth = 1737.933695; finalDepth = 1729.785303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1729.785303 # Seafloor depth: -1779.785303 # 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 52 # Segment length 75.461569 meters # Minimum depth: 1787.933695 meters looking forward 0.000000 meters along route # Maximum depth: 1787.933695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.933695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709854; longitude = -122.109436; captureRadius = 10; duration = 150; initialDepth = 1730.194890; finalDepth = 1737.933695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.933695 # Seafloor depth: -1787.933695 # 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 52 # Segment length 77.169959 meters # Minimum depth: 1780.194890 meters looking forward 0.000000 meters along route # Maximum depth: 1780.194890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.194890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709498; longitude = -122.110156; captureRadius = 10; duration = 154; initialDepth = 1714.363293; finalDepth = 1730.194890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1730.19489 # Seafloor depth: -1780.194890 # 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 52 # Segment length 75.633820 meters # Minimum depth: 1764.363293 meters looking forward 0.000000 meters along route # Maximum depth: 1764.363293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.363293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709134; longitude = -122.110892; captureRadius = 10; duration = 151; initialDepth = 1712.959419; finalDepth = 1714.363293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.363293 # Seafloor depth: -1764.363293 # 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 52 # Segment length 76.998698 meters # Minimum depth: 1762.959419 meters looking forward 0.000000 meters along route # Maximum depth: 1762.959419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.959419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708777; longitude = -122.111613; captureRadius = 10; duration = 153; initialDepth = 1718.621656; finalDepth = 1712.959419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1712.959419 # Seafloor depth: -1762.959419 # 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 52 # Segment length 75.806074 meters # Minimum depth: 1768.621656 meters looking forward 0.000000 meters along route # Maximum depth: 1768.621656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.621656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708414; longitude = -122.112348; captureRadius = 10; duration = 151; initialDepth = 1725.935719; finalDepth = 1718.621656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.621656 # Seafloor depth: -1768.621656 # 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 52 # Segment length 76.827434 meters # Minimum depth: 1775.935719 meters looking forward 0.000000 meters along route # Maximum depth: 1775.935719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.935719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708056; longitude = -122.113071; captureRadius = 10; duration = 153; initialDepth = 1732.789985; finalDepth = 1725.935719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1725.935719 # Seafloor depth: -1775.935719 # 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 52 # Segment length 77.203435 meters # Minimum depth: 1782.789985 meters looking forward 0.000000 meters along route # Maximum depth: 1782.789985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.789985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707693; longitude = -122.113804; captureRadius = 10; duration = 154; initialDepth = 1737.969452; finalDepth = 1732.789985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.789985 # Seafloor depth: -1782.789985 # 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; } # ####################################################### # 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 70.134359 meters # Minimum depth: 1787.969452 meters looking forward 0.000000 meters along route # Maximum depth: 1787.969452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.969452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707329; longitude = -122.114540; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 1752.796352; finalDepth = 1737.969452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.969452 # Seafloor depth: -1787.969452 # 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 51 # Segment length 78.502834 meters # Minimum depth: 1802.796352 meters looking forward 0.000000 meters along route # Maximum depth: 1802.796352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.796352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706704; longitude = -122.114423; captureRadius = 10; duration = 157; initialDepth = 1744.097229; finalDepth = 1752.796352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.796352 # Seafloor depth: -1802.796352 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 50 # Segment length 132.801266 meters # Minimum depth: 1794.097229 meters looking forward 0.000000 meters along route # Maximum depth: 1794.097229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.097229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.114293; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 1748.912204; finalDepth = 1744.097229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.097229 # Seafloor depth: -1794.097229 # 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 50 # Segment length 75.714897 meters # Minimum depth: 1798.912204 meters looking forward 0.000000 meters along route # Maximum depth: 1798.912204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.912204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706622; longitude = -122.113020; captureRadius = 10; duration = 151; initialDepth = 1746.236034; finalDepth = 1748.912204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1748.912204 # Seafloor depth: -1798.912204 # 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 50 # Segment length 77.489976 meters # Minimum depth: 1796.236034 meters looking forward 0.000000 meters along route # Maximum depth: 1796.236034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.236034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706974; longitude = -122.112294; captureRadius = 10; duration = 154; initialDepth = 1746.711346; finalDepth = 1746.236034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.236034 # Seafloor depth: -1796.236034 # 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 50 # Segment length 77.489722 meters # Minimum depth: 1796.711346 meters looking forward 0.000000 meters along route # Maximum depth: 1796.711346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.711346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707335; longitude = -122.111551; captureRadius = 10; duration = 154; initialDepth = 1736.732767; finalDepth = 1746.711346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.711346 # Seafloor depth: -1796.711346 # 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 50 # Segment length 77.489467 meters # Minimum depth: 1786.732767 meters looking forward 0.000000 meters along route # Maximum depth: 1786.732767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.732767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707695; longitude = -122.110808; captureRadius = 10; duration = 154; initialDepth = 1732.140323; finalDepth = 1736.732767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1736.732767 # Seafloor depth: -1786.732767 # 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 50 # Segment length 77.489213 meters # Minimum depth: 1782.140323 meters looking forward 0.000000 meters along route # Maximum depth: 1782.140323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.140323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708056; longitude = -122.110065; captureRadius = 10; duration = 154; initialDepth = 1739.252905; finalDepth = 1732.140323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.140323 # Seafloor depth: -1782.140323 # 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 50 # Segment length 77.488959 meters # Minimum depth: 1789.252905 meters looking forward 0.000000 meters along route # Maximum depth: 1789.252905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.252905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708416; longitude = -122.109322; captureRadius = 10; duration = 154; initialDepth = 1751.397466; finalDepth = 1739.252905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.252905 # Seafloor depth: -1789.252905 # 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 50 # Segment length 77.488704 meters # Minimum depth: 1801.397466 meters looking forward 0.000000 meters along route # Maximum depth: 1801.397466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.397466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708777; longitude = -122.108579; captureRadius = 10; duration = 154; initialDepth = 1756.529997; finalDepth = 1751.397466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.397466 # Seafloor depth: -1801.397466 # 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 50 # Segment length 78.378203 meters # Minimum depth: 1806.529997 meters looking forward 0.000000 meters along route # Maximum depth: 1806.529997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.529997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709138; longitude = -122.107836; captureRadius = 10; duration = 156; initialDepth = 1754.807942; finalDepth = 1756.529997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.529997 # Seafloor depth: -1806.529997 # 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 50 # Segment length 76.598444 meters # Minimum depth: 1804.807942 meters looking forward 0.000000 meters along route # Maximum depth: 1804.807942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.807942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709502; longitude = -122.107084; captureRadius = 10; duration = 153; initialDepth = 1752.408671; finalDepth = 1754.807942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.807942 # Seafloor depth: -1804.807942 # 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 50 # Segment length 77.487942 meters # Minimum depth: 1802.408671 meters looking forward 0.000000 meters along route # Maximum depth: 1802.408671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.408671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709859; longitude = -122.106350; captureRadius = 10; duration = 154; initialDepth = 1746.684933; finalDepth = 1752.408671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.408671 # Seafloor depth: -1802.408671 # 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 50 # Segment length 79.505300 meters # Minimum depth: 1796.684933 meters looking forward 0.000000 meters along route # Maximum depth: 1796.684933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.684933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710219; longitude = -122.105607; captureRadius = 10; duration = 159; initialDepth = 1739.612050; finalDepth = 1746.684933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.684933 # Seafloor depth: -1796.684933 # 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 50 # Segment length 75.469820 meters # Minimum depth: 1789.612050 meters looking forward 0.000000 meters along route # Maximum depth: 1789.612050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.612050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710589; longitude = -122.104844; captureRadius = 10; duration = 150; initialDepth = 1739.684098; finalDepth = 1739.612050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.61205 # Seafloor depth: -1789.612050 # 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 50 # Segment length 77.487180 meters # Minimum depth: 1789.684098 meters looking forward 0.000000 meters along route # Maximum depth: 1789.684098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.684098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710940; longitude = -122.104120; captureRadius = 10; duration = 154; initialDepth = 1733.895825; finalDepth = 1739.684098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.684098 # Seafloor depth: -1789.684098 # 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 50 # Segment length 77.486924 meters # Minimum depth: 1783.895825 meters looking forward 0.000000 meters along route # Maximum depth: 1783.895825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.895825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711301; longitude = -122.103377; captureRadius = 10; duration = 154; initialDepth = 1730.620704; finalDepth = 1733.895825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1733.895825 # Seafloor depth: -1783.895825 # 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 50 # Segment length 77.486671 meters # Minimum depth: 1780.620704 meters looking forward 0.000000 meters along route # Maximum depth: 1780.620704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.620704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711662; longitude = -122.102634; captureRadius = 10; duration = 154; initialDepth = 1729.178663; finalDepth = 1730.620704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1730.620704 # Seafloor depth: -1780.620704 # 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 50 # Segment length 77.490635 meters # Minimum depth: 1779.178663 meters looking forward 0.000000 meters along route # Maximum depth: 1779.178663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.178663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712022; longitude = -122.101891; captureRadius = 10; duration = 154; initialDepth = 1728.298041; finalDepth = 1729.178663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1729.178663 # Seafloor depth: -1779.178663 # 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 50 # Segment length 81.755209 meters # Minimum depth: 1778.298041 meters looking forward 0.000000 meters along route # Maximum depth: 1778.298041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.298041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712383; longitude = -122.101148; captureRadius = 10; duration = 163; initialDepth = 1721.805600; finalDepth = 1728.298041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.298041 # Seafloor depth: -1778.298041 # 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 50 # Segment length 83.579843 meters # Minimum depth: 1771.805600 meters looking forward 0.000000 meters along route # Maximum depth: 1771.805600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.805600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712763; longitude = -122.100364; captureRadius = 10; duration = 167; initialDepth = 1709.127045; finalDepth = 1721.805600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.8056 # Seafloor depth: -1771.805600 # 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; } # ####################################################### # 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 73.392838 meters # Minimum depth: 1759.127045 meters looking forward 0.000000 meters along route # Maximum depth: 1759.127045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.127045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713152; longitude = -122.099563; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 1709.095247; finalDepth = 1709.127045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.127045 # Seafloor depth: -1759.127045 # 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 49 # Segment length 76.641841 meters # Minimum depth: 1759.095247 meters looking forward 0.000000 meters along route # Maximum depth: 1759.095247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.095247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712588; longitude = -122.099133; captureRadius = 10; duration = 153; initialDepth = 1705.861786; finalDepth = 1709.095247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.095247 # Seafloor depth: -1759.095247 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 48 # Segment length 94.363641 meters # Minimum depth: 1755.861786 meters looking forward 0.000000 meters along route # Maximum depth: 1755.861786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.861786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712000; longitude = -122.098683; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 1710.073736; finalDepth = 1705.861786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.861786 # Seafloor depth: -1755.861786 # 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 48 # Segment length 79.508657 meters # Minimum depth: 1760.073736 meters looking forward 0.000000 meters along route # Maximum depth: 1760.073736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.073736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711571; longitude = -122.099596; captureRadius = 10; duration = 159; initialDepth = 1717.124293; finalDepth = 1710.073736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.073736 # Seafloor depth: -1760.073736 # 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 48 # Segment length 81.065738 meters # Minimum depth: 1767.124293 meters looking forward 0.000000 meters along route # Maximum depth: 1767.124293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.124293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711210; longitude = -122.100364; captureRadius = 10; duration = 162; initialDepth = 1733.777828; finalDepth = 1717.124293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1717.124293 # Seafloor depth: -1767.124293 # 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 48 # Segment length 81.066014 meters # Minimum depth: 1783.777828 meters looking forward 0.000000 meters along route # Maximum depth: 1783.777828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.777828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710842; longitude = -122.101148; captureRadius = 10; duration = 162; initialDepth = 1746.998722; finalDepth = 1733.777828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1733.777828 # Seafloor depth: -1783.777828 # 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 48 # Segment length 75.878035 meters # Minimum depth: 1796.998722 meters looking forward 0.000000 meters along route # Maximum depth: 1796.998722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.998722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710474; longitude = -122.101932; captureRadius = 10; duration = 151; initialDepth = 1756.134690; finalDepth = 1746.998722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.998722 # Seafloor depth: -1796.998722 # 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 48 # Segment length 79.380273 meters # Minimum depth: 1806.134690 meters looking forward 0.000000 meters along route # Maximum depth: 1806.134690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.134690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710129; longitude = -122.102666; captureRadius = 10; duration = 158; initialDepth = 1758.516855; finalDepth = 1756.134690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.13469 # Seafloor depth: -1806.134690 # 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 48 # Segment length 79.380538 meters # Minimum depth: 1808.516855 meters looking forward 0.000000 meters along route # Maximum depth: 1808.516855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.516855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709769; longitude = -122.103434; captureRadius = 10; duration = 158; initialDepth = 1760.620436; finalDepth = 1758.516855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.516855 # Seafloor depth: -1808.516855 # 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 48 # Segment length 79.380802 meters # Minimum depth: 1810.620436 meters looking forward 0.000000 meters along route # Maximum depth: 1810.620436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.620436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709408; longitude = -122.104201; captureRadius = 10; duration = 158; initialDepth = 1766.904088; finalDepth = 1760.620436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.620436 # Seafloor depth: -1810.620436 # 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 48 # Segment length 79.733493 meters # Minimum depth: 1816.904088 meters looking forward 0.000000 meters along route # Maximum depth: 1816.904088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.904088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709047; longitude = -122.104969; captureRadius = 10; duration = 159; initialDepth = 1768.952051; finalDepth = 1766.904088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1766.904088 # Seafloor depth: -1816.904088 # 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 48 # Segment length 81.067632 meters # Minimum depth: 1818.952051 meters looking forward 0.000000 meters along route # Maximum depth: 1818.952051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.952051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708685; longitude = -122.105740; captureRadius = 10; duration = 162; initialDepth = 1770.725868; finalDepth = 1768.952051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.952051 # Seafloor depth: -1818.952051 # 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 48 # Segment length 81.067908 meters # Minimum depth: 1820.725868 meters looking forward 0.000000 meters along route # Maximum depth: 1820.725868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.725868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708317; longitude = -122.106524; captureRadius = 10; duration = 162; initialDepth = 1768.775454; finalDepth = 1770.725868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.725868 # Seafloor depth: -1820.725868 # 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 48 # Segment length 75.656826 meters # Minimum depth: 1818.775454 meters looking forward 0.000000 meters along route # Maximum depth: 1818.775454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.775454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707949; longitude = -122.107308; captureRadius = 10; duration = 151; initialDepth = 1760.214122; finalDepth = 1768.775454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.775454 # Seafloor depth: -1818.775454 # 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 48 # Segment length 79.382126 meters # Minimum depth: 1810.214122 meters looking forward 0.000000 meters along route # Maximum depth: 1810.214122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.214122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707605; longitude = -122.108040; captureRadius = 10; duration = 158; initialDepth = 1748.779280; finalDepth = 1760.214122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.214122 # Seafloor depth: -1810.214122 # 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 48 # Segment length 79.382392 meters # Minimum depth: 1798.779280 meters looking forward 0.000000 meters along route # Maximum depth: 1798.779280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.779280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707245; longitude = -122.108807; captureRadius = 10; duration = 158; initialDepth = 1749.221642; finalDepth = 1748.779280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1748.77928 # Seafloor depth: -1798.779280 # 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 48 # Segment length 79.382656 meters # Minimum depth: 1799.221642 meters looking forward 0.000000 meters along route # Maximum depth: 1799.221642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.221642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706884; longitude = -122.109575; captureRadius = 10; duration = 158; initialDepth = 1758.445178; finalDepth = 1749.221642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1749.221642 # Seafloor depth: -1799.221642 # 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 48 # Segment length 79.958339 meters # Minimum depth: 1808.445178 meters looking forward 0.000000 meters along route # Maximum depth: 1808.445178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.445178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706524; longitude = -122.110343; captureRadius = 10; duration = 159; initialDepth = 1764.833287; finalDepth = 1758.445178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.445178 # Seafloor depth: -1808.445178 # 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 48 # Segment length 81.069526 meters # Minimum depth: 1814.833287 meters looking forward 0.000000 meters along route # Maximum depth: 1814.833287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.833287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706160; longitude = -122.111116; captureRadius = 10; duration = 162; initialDepth = 1765.567183; finalDepth = 1764.833287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.833287 # Seafloor depth: -1814.833287 # 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 48 # Segment length 81.069803 meters # Minimum depth: 1815.567183 meters looking forward 0.000000 meters along route # Maximum depth: 1815.567183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.567183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705792; longitude = -122.111900; captureRadius = 10; duration = 162; initialDepth = 1770.685147; finalDepth = 1765.567183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1765.567183 # Seafloor depth: -1815.567183 # 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 48 # Segment length 81.070078 meters # Minimum depth: 1820.685147 meters looking forward 0.000000 meters along route # Maximum depth: 1820.685147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.685147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705424; longitude = -122.112684; captureRadius = 10; duration = 162; initialDepth = 1748.429132; finalDepth = 1770.685147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.685147 # Seafloor depth: -1820.685147 # 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 48 # Segment length 85.355392 meters # Minimum depth: 1798.429132 meters looking forward 0.000000 meters along route # Maximum depth: 1798.429132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.429132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705056; longitude = -122.113468; captureRadius = 10; duration = 170; initialDepth = 1731.822601; finalDepth = 1748.429132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1748.429132 # Seafloor depth: -1798.429132 # 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; } # ####################################################### # 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 76.775186 meters # Minimum depth: 1781.822601 meters looking forward 0.000000 meters along route # Maximum depth: 1781.822601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.822601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.114293; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 1755.761877; finalDepth = 1731.822601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.822601 # Seafloor depth: -1781.822601 # 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 47 # Segment length 76.566525 meters # Minimum depth: 1805.761877 meters looking forward 0.000000 meters along route # Maximum depth: 1805.761877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.761877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704000; longitude = -122.114070; captureRadius = 10; duration = 153; initialDepth = 1777.463593; finalDepth = 1755.761877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1755.761877 # Seafloor depth: -1805.761877 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 46 # Segment length 67.518529 meters # Minimum depth: 1827.463593 meters looking forward 0.000000 meters along route # Maximum depth: 1827.463593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.463593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703333; longitude = -122.113848; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1766.418916; finalDepth = 1777.463593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.463593 # Seafloor depth: -1827.463593 # 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 46 # Segment length 79.549206 meters # Minimum depth: 1816.418916 meters looking forward 0.000000 meters along route # Maximum depth: 1816.418916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.418916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703639; longitude = -122.113195; captureRadius = 10; duration = 159; initialDepth = 1773.382400; finalDepth = 1766.418916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1766.418916 # Seafloor depth: -1816.418916 # 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 46 # Segment length 79.548940 meters # Minimum depth: 1823.382400 meters looking forward 0.000000 meters along route # Maximum depth: 1823.382400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.382400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704000; longitude = -122.112425; captureRadius = 10; duration = 159; initialDepth = 1784.569259; finalDepth = 1773.382400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.3824 # Seafloor depth: -1823.382400 # 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 46 # Segment length 79.548674 meters # Minimum depth: 1834.569259 meters looking forward 0.000000 meters along route # Maximum depth: 1834.569259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.569259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704360; longitude = -122.111655; captureRadius = 10; duration = 159; initialDepth = 1784.876281; finalDepth = 1784.569259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.569259 # Seafloor depth: -1834.569259 # 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 46 # Segment length 80.346972 meters # Minimum depth: 1834.876281 meters looking forward 0.000000 meters along route # Maximum depth: 1834.876281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.876281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704721; longitude = -122.110885; captureRadius = 10; duration = 160; initialDepth = 1784.452937; finalDepth = 1784.876281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.876281 # Seafloor depth: -1834.876281 # 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 46 # Segment length 81.013217 meters # Minimum depth: 1834.452937 meters looking forward 0.000000 meters along route # Maximum depth: 1834.452937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.452937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705085; longitude = -122.110108; captureRadius = 10; duration = 162; initialDepth = 1768.243178; finalDepth = 1784.452937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.452937 # Seafloor depth: -1834.452937 # 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 46 # Segment length 81.012941 meters # Minimum depth: 1818.243178 meters looking forward 0.000000 meters along route # Maximum depth: 1818.243178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.243178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705452; longitude = -122.109324; captureRadius = 10; duration = 162; initialDepth = 1756.889647; finalDepth = 1768.243178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.243178 # Seafloor depth: -1818.243178 # 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 46 # Segment length 75.818908 meters # Minimum depth: 1806.889647 meters looking forward 0.000000 meters along route # Maximum depth: 1806.889647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.889647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705819; longitude = -122.108540; captureRadius = 10; duration = 151; initialDepth = 1759.660745; finalDepth = 1756.889647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.889647 # Seafloor depth: -1806.889647 # 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 46 # Segment length 79.547345 meters # Minimum depth: 1809.660745 meters looking forward 0.000000 meters along route # Maximum depth: 1809.660745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.660745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706163; longitude = -122.107806; captureRadius = 10; duration = 159; initialDepth = 1770.093827; finalDepth = 1759.660745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1759.660745 # Seafloor depth: -1809.660745 # 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 46 # Segment length 79.547080 meters # Minimum depth: 1820.093827 meters looking forward 0.000000 meters along route # Maximum depth: 1820.093827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.093827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706524; longitude = -122.107036; captureRadius = 10; duration = 159; initialDepth = 1779.422972; finalDepth = 1770.093827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.093827 # Seafloor depth: -1820.093827 # 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 46 # Segment length 79.546814 meters # Minimum depth: 1829.422972 meters looking forward 0.000000 meters along route # Maximum depth: 1829.422972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.422972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706884; longitude = -122.106267; captureRadius = 10; duration = 159; initialDepth = 1782.632961; finalDepth = 1779.422972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1779.422972 # Seafloor depth: -1829.422972 # 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 46 # Segment length 79.546548 meters # Minimum depth: 1832.632961 meters looking forward 0.000000 meters along route # Maximum depth: 1832.632961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.632961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707245; longitude = -122.105497; captureRadius = 10; duration = 159; initialDepth = 1782.333183; finalDepth = 1782.632961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.632961 # Seafloor depth: -1832.632961 # 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 46 # Segment length 80.492138 meters # Minimum depth: 1832.333183 meters looking forward 0.000000 meters along route # Maximum depth: 1832.333183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.333183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707605; longitude = -122.104727; captureRadius = 10; duration = 160; initialDepth = 1780.315883; finalDepth = 1782.333183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.333183 # Seafloor depth: -1832.333183 # 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 46 # Segment length 81.011051 meters # Minimum depth: 1830.315883 meters looking forward 0.000000 meters along route # Maximum depth: 1830.315883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.315883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707970; longitude = -122.103948; captureRadius = 10; duration = 162; initialDepth = 1765.710828; finalDepth = 1780.315883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.315883 # Seafloor depth: -1830.315883 # 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 46 # Segment length 81.010775 meters # Minimum depth: 1815.710828 meters looking forward 0.000000 meters along route # Maximum depth: 1815.710828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.710828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708337; longitude = -122.103164; captureRadius = 10; duration = 162; initialDepth = 1755.809299; finalDepth = 1765.710828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1765.710828 # Seafloor depth: -1815.710828 # 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 46 # Segment length 75.669571 meters # Minimum depth: 1805.809299 meters looking forward 0.000000 meters along route # Maximum depth: 1805.809299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.809299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708704; longitude = -122.102380; captureRadius = 10; duration = 151; initialDepth = 1744.430836; finalDepth = 1755.809299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1755.809299 # Seafloor depth: -1805.809299 # 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 46 # Segment length 79.545220 meters # Minimum depth: 1794.430836 meters looking forward 0.000000 meters along route # Maximum depth: 1794.430836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.430836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709047; longitude = -122.101648; captureRadius = 10; duration = 159; initialDepth = 1730.091020; finalDepth = 1744.430836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.430836 # Seafloor depth: -1794.430836 # 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 46 # Segment length 79.544953 meters # Minimum depth: 1780.091020 meters looking forward 0.000000 meters along route # Maximum depth: 1780.091020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.091020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709408; longitude = -122.100878; captureRadius = 10; duration = 159; initialDepth = 1718.365332; finalDepth = 1730.091020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1730.09102 # Seafloor depth: -1780.091020 # 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 46 # Segment length 79.544689 meters # Minimum depth: 1768.365332 meters looking forward 0.000000 meters along route # Maximum depth: 1768.365332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.365332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709769; longitude = -122.100109; captureRadius = 10; duration = 159; initialDepth = 1718.776830; finalDepth = 1718.365332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.365332 # Seafloor depth: -1768.365332 # 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 46 # Segment length 79.544422 meters # Minimum depth: 1768.776830 meters looking forward 0.000000 meters along route # Maximum depth: 1768.776830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.776830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710129; longitude = -122.099339; captureRadius = 10; duration = 159; initialDepth = 1713.768624; finalDepth = 1718.776830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.77683 # Seafloor depth: -1768.776830 # 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 46 # Segment length 79.047334 meters # Minimum depth: 1763.768624 meters looking forward 0.000000 meters along route # Maximum depth: 1763.768624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.768624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710490; longitude = -122.098569; captureRadius = 10; duration = 158; initialDepth = 1707.512451; finalDepth = 1713.768624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1713.768624 # Seafloor depth: -1763.768624 # 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; } # ####################################################### # 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 70.123700 meters # Minimum depth: 1757.512451 meters looking forward 0.000000 meters along route # Maximum depth: 1757.512451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.512451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710848; longitude = -122.097804; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 1718.947240; finalDepth = 1707.512451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.512451 # Seafloor depth: -1757.512451 # 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 45 # Segment length 79.865440 meters # Minimum depth: 1768.947240 meters looking forward 0.000000 meters along route # Maximum depth: 1768.947240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.947240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710309; longitude = -122.097393; captureRadius = 10; duration = 159; initialDepth = 1725.477570; finalDepth = 1718.947240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.94724 # Seafloor depth: -1768.947240 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 44 # Segment length 103.501300 meters # Minimum depth: 1775.477570 meters looking forward 0.000000 meters along route # Maximum depth: 1775.477570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.477570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709696; longitude = -122.096925; captureRadius = 10; duration = 207; # abortOnTimeout = True; initialDepth = 1736.387706; finalDepth = 1725.477570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1725.47757 # Seafloor depth: -1775.477570 # 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 44 # Segment length 79.694318 meters # Minimum depth: 1786.387706 meters looking forward 0.000000 meters along route # Maximum depth: 1786.387706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.387706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709228; longitude = -122.097927; captureRadius = 10; duration = 159; initialDepth = 1740.100199; finalDepth = 1736.387706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1736.387706 # Seafloor depth: -1786.387706 # 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 44 # Segment length 79.694584 meters # Minimum depth: 1790.100199 meters looking forward 0.000000 meters along route # Maximum depth: 1790.100199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.100199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708867; longitude = -122.098699; captureRadius = 10; duration = 159; initialDepth = 1741.891440; finalDepth = 1740.100199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.100199 # Seafloor depth: -1790.100199 # 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 44 # Segment length 80.739914 meters # Minimum depth: 1791.891440 meters looking forward 0.000000 meters along route # Maximum depth: 1791.891440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.891440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708507; longitude = -122.099471; captureRadius = 10; duration = 161; initialDepth = 1746.451394; finalDepth = 1741.891440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1741.89144 # Seafloor depth: -1791.891440 # 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 44 # Segment length 80.960111 meters # Minimum depth: 1796.451394 meters looking forward 0.000000 meters along route # Maximum depth: 1796.451394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.451394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708141; longitude = -122.100252; captureRadius = 10; duration = 161; initialDepth = 1775.088762; finalDepth = 1746.451394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.451394 # Seafloor depth: -1796.451394 # 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 44 # Segment length 80.960385 meters # Minimum depth: 1825.088762 meters looking forward 0.000000 meters along route # Maximum depth: 1825.088762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.088762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707775; longitude = -122.101036; captureRadius = 10; duration = 161; initialDepth = 1785.509601; finalDepth = 1775.088762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.088762 # Seafloor depth: -1825.088762 # 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 44 # Segment length 76.120592 meters # Minimum depth: 1835.509601 meters looking forward 0.000000 meters along route # Maximum depth: 1835.509601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.509601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707409; longitude = -122.101820; captureRadius = 10; duration = 152; initialDepth = 1786.261801; finalDepth = 1785.509601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.509601 # Seafloor depth: -1835.509601 # 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 44 # Segment length 79.695916 meters # Minimum depth: 1836.261801 meters looking forward 0.000000 meters along route # Maximum depth: 1836.261801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.261801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707064; longitude = -122.102557; captureRadius = 10; duration = 159; initialDepth = 1786.726986; finalDepth = 1786.261801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1786.261801 # Seafloor depth: -1836.261801 # 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 44 # Segment length 79.696183 meters # Minimum depth: 1836.726986 meters looking forward 0.000000 meters along route # Maximum depth: 1836.726986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.726986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706704; longitude = -122.103329; captureRadius = 10; duration = 159; initialDepth = 1787.937681; finalDepth = 1786.726986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1786.726986 # Seafloor depth: -1836.726986 # 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 44 # Segment length 79.696450 meters # Minimum depth: 1837.937681 meters looking forward 0.000000 meters along route # Maximum depth: 1837.937681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.937681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706343; longitude = -122.104101; captureRadius = 10; duration = 159; initialDepth = 1790.255141; finalDepth = 1787.937681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.937681 # Seafloor depth: -1837.937681 # 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 44 # Segment length 79.696716 meters # Minimum depth: 1840.255141 meters looking forward 0.000000 meters along route # Maximum depth: 1840.255141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.255141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705983; longitude = -122.104873; captureRadius = 10; duration = 159; initialDepth = 1787.026201; finalDepth = 1790.255141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.255141 # Seafloor depth: -1840.255141 # 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 44 # Segment length 79.696983 meters # Minimum depth: 1837.026201 meters looking forward 0.000000 meters along route # Maximum depth: 1837.026201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.026201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705622; longitude = -122.105644; captureRadius = 10; duration = 159; initialDepth = 1778.301265; finalDepth = 1787.026201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.026201 # Seafloor depth: -1837.026201 # 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 44 # Segment length 80.561501 meters # Minimum depth: 1828.301265 meters looking forward 0.000000 meters along route # Maximum depth: 1828.301265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.301265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.106416; captureRadius = 10; duration = 161; initialDepth = 1778.438036; finalDepth = 1778.301265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.301265 # Seafloor depth: -1828.301265 # 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 44 # Segment length 80.962547 meters # Minimum depth: 1828.438036 meters looking forward 0.000000 meters along route # Maximum depth: 1828.438036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.438036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704897; longitude = -122.107196; captureRadius = 10; duration = 161; initialDepth = 1789.376387; finalDepth = 1778.438036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.438036 # Seafloor depth: -1828.438036 # 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 44 # Segment length 80.962822 meters # Minimum depth: 1839.376387 meters looking forward 0.000000 meters along route # Maximum depth: 1839.376387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.376387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704531; longitude = -122.107980; captureRadius = 10; duration = 161; initialDepth = 1795.331829; finalDepth = 1789.376387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.376387 # Seafloor depth: -1839.376387 # 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 44 # Segment length 80.963097 meters # Minimum depth: 1845.331829 meters looking forward 0.000000 meters along route # Maximum depth: 1845.331829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.331829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704165; longitude = -122.108764; captureRadius = 10; duration = 161; initialDepth = 1799.161396; finalDepth = 1795.331829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.331829 # Seafloor depth: -1845.331829 # 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 44 # Segment length 75.038945 meters # Minimum depth: 1849.161396 meters looking forward 0.000000 meters along route # Maximum depth: 1849.161396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.161396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703798; longitude = -122.109548; captureRadius = 10; duration = 150; initialDepth = 1798.442436; finalDepth = 1799.161396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.161396 # Seafloor depth: -1849.161396 # 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 44 # Segment length 79.698582 meters # Minimum depth: 1848.442436 meters looking forward 0.000000 meters along route # Maximum depth: 1848.442436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.442436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703459; longitude = -122.110274; captureRadius = 10; duration = 159; initialDepth = 1801.108177; finalDepth = 1798.442436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.442436 # Seafloor depth: -1848.442436 # 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 44 # Segment length 79.698849 meters # Minimum depth: 1851.108177 meters looking forward 0.000000 meters along route # Maximum depth: 1851.108177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.108177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703098; longitude = -122.111046; captureRadius = 10; duration = 159; initialDepth = 1792.589610; finalDepth = 1801.108177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1801.108177 # Seafloor depth: -1851.108177 # 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 44 # Segment length 79.699115 meters # Minimum depth: 1842.589610 meters looking forward 0.000000 meters along route # Maximum depth: 1842.589610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.589610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702738; longitude = -122.111818; captureRadius = 10; duration = 159; initialDepth = 1789.010409; finalDepth = 1792.589610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.58961 # Seafloor depth: -1842.589610 # 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 44 # Segment length 84.010957 meters # Minimum depth: 1839.010409 meters looking forward 0.000000 meters along route # Maximum depth: 1839.010409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.010409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702377; longitude = -122.112590; captureRadius = 10; duration = 168; initialDepth = 1795.489960; finalDepth = 1789.010409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.010409 # Seafloor depth: -1839.010409 # 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; } # ####################################################### # 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 98.098381 meters # Minimum depth: 1845.489960 meters looking forward 0.000000 meters along route # Maximum depth: 1845.489960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.489960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701997; longitude = -122.113403; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 1803.798034; finalDepth = 1795.489960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.48996 # Seafloor depth: -1845.489960 # 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 43 # Segment length 83.438163 meters # Minimum depth: 1853.798034 meters looking forward 0.000000 meters along route # Maximum depth: 1853.798034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.798034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701115; longitude = -122.113322; captureRadius = 10; duration = 166; initialDepth = 1811.837677; finalDepth = 1803.798034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.798034 # Seafloor depth: -1853.798034 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 42 # Segment length 124.359850 meters # Minimum depth: 1861.837677 meters looking forward 0.000000 meters along route # Maximum depth: 1861.837677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.837677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.113254; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 1801.953789; finalDepth = 1811.837677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.837677 # Seafloor depth: -1861.837677 # 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 42 # Segment length 78.689666 meters # Minimum depth: 1851.953789 meters looking forward 0.000000 meters along route # Maximum depth: 1851.953789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.953789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700935; longitude = -122.112055; captureRadius = 10; duration = 157; initialDepth = 1806.574779; finalDepth = 1801.953789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1801.953789 # Seafloor depth: -1851.953789 # 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 42 # Segment length 78.689404 meters # Minimum depth: 1856.574779 meters looking forward 0.000000 meters along route # Maximum depth: 1856.574779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.574779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701295; longitude = -122.111297; captureRadius = 10; duration = 157; initialDepth = 1815.340864; finalDepth = 1806.574779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.574779 # Seafloor depth: -1856.574779 # 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 42 # Segment length 79.467869 meters # Minimum depth: 1865.340864 meters looking forward 0.000000 meters along route # Maximum depth: 1865.340864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.340864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701656; longitude = -122.110538; captureRadius = 10; duration = 158; initialDepth = 1814.646516; finalDepth = 1815.340864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1815.340864 # Seafloor depth: -1865.340864 # 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 42 # Segment length 81.319122 meters # Minimum depth: 1864.646516 meters looking forward 0.000000 meters along route # Maximum depth: 1864.646516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.646516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702020; longitude = -122.109772; captureRadius = 10; duration = 162; initialDepth = 1812.756875; finalDepth = 1814.646516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1814.646516 # Seafloor depth: -1864.646516 # 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 42 # Segment length 75.279657 meters # Minimum depth: 1862.756875 meters looking forward 0.000000 meters along route # Maximum depth: 1862.756875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.756875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702393; longitude = -122.108988; captureRadius = 10; duration = 150; initialDepth = 1811.653719; finalDepth = 1812.756875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.756875 # Seafloor depth: -1862.756875 # 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 42 # Segment length 78.688360 meters # Minimum depth: 1861.653719 meters looking forward 0.000000 meters along route # Maximum depth: 1861.653719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.653719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702738; longitude = -122.108262; captureRadius = 10; duration = 157; initialDepth = 1807.235801; finalDepth = 1811.653719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.653719 # Seafloor depth: -1861.653719 # 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 42 # Segment length 78.688100 meters # Minimum depth: 1857.235801 meters looking forward 0.000000 meters along route # Maximum depth: 1857.235801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.235801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703098; longitude = -122.107504; captureRadius = 10; duration = 157; initialDepth = 1805.570564; finalDepth = 1807.235801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.235801 # Seafloor depth: -1857.235801 # 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 42 # Segment length 81.000742 meters # Minimum depth: 1855.570564 meters looking forward 0.000000 meters along route # Maximum depth: 1855.570564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.570564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703459; longitude = -122.106745; captureRadius = 10; duration = 162; initialDepth = 1803.863633; finalDepth = 1805.570564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.570564 # Seafloor depth: -1855.570564 # 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 42 # Segment length 76.374675 meters # Minimum depth: 1853.863633 meters looking forward 0.000000 meters along route # Maximum depth: 1853.863633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.863633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703830; longitude = -122.105964; captureRadius = 10; duration = 152; initialDepth = 1807.260969; finalDepth = 1803.863633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.863633 # Seafloor depth: -1853.863633 # 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 42 # Segment length 78.687317 meters # Minimum depth: 1857.260969 meters looking forward 0.000000 meters along route # Maximum depth: 1857.260969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.260969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704180; longitude = -122.105228; captureRadius = 10; duration = 157; initialDepth = 1804.337248; finalDepth = 1807.260969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.260969 # Seafloor depth: -1857.260969 # 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 42 # Segment length 78.687056 meters # Minimum depth: 1854.337248 meters looking forward 0.000000 meters along route # Maximum depth: 1854.337248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.337248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704540; longitude = -122.104469; captureRadius = 10; duration = 157; initialDepth = 1798.132963; finalDepth = 1804.337248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.337248 # Seafloor depth: -1854.337248 # 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 42 # Segment length 79.903665 meters # Minimum depth: 1848.132963 meters looking forward 0.000000 meters along route # Maximum depth: 1848.132963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.132963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704901; longitude = -122.103711; captureRadius = 10; duration = 159; initialDepth = 1799.589931; finalDepth = 1798.132963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.132963 # Seafloor depth: -1848.132963 # 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 42 # Segment length 77.469664 meters # Minimum depth: 1849.589931 meters looking forward 0.000000 meters along route # Maximum depth: 1849.589931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.589931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705267; longitude = -122.102940; captureRadius = 10; duration = 154; initialDepth = 1796.027305; finalDepth = 1799.589931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.589931 # Seafloor depth: -1849.589931 # 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 42 # Segment length 78.686274 meters # Minimum depth: 1846.027305 meters looking forward 0.000000 meters along route # Maximum depth: 1846.027305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.027305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705622; longitude = -122.102193; captureRadius = 10; duration = 157; initialDepth = 1794.128877; finalDepth = 1796.027305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.027305 # Seafloor depth: -1846.027305 # 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 42 # Segment length 78.686012 meters # Minimum depth: 1844.128877 meters looking forward 0.000000 meters along route # Maximum depth: 1844.128877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.128877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705983; longitude = -122.101435; captureRadius = 10; duration = 157; initialDepth = 1791.827249; finalDepth = 1794.128877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.128877 # Seafloor depth: -1844.128877 # 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 42 # Segment length 78.806618 meters # Minimum depth: 1841.827249 meters looking forward 0.000000 meters along route # Maximum depth: 1841.827249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.827249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706343; longitude = -122.100676; captureRadius = 10; duration = 157; initialDepth = 1789.064250; finalDepth = 1791.827249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.827249 # Seafloor depth: -1841.827249 # 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 42 # Segment length 81.315619 meters # Minimum depth: 1839.064250 meters looking forward 0.000000 meters along route # Maximum depth: 1839.064250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.064250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706704; longitude = -122.099916; captureRadius = 10; duration = 162; initialDepth = 1783.970694; finalDepth = 1789.064250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.06425 # Seafloor depth: -1839.064250 # 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 42 # Segment length 81.315341 meters # Minimum depth: 1833.970694 meters looking forward 0.000000 meters along route # Maximum depth: 1833.970694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.970694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707077; longitude = -122.099133; captureRadius = 10; duration = 162; initialDepth = 1780.746847; finalDepth = 1783.970694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.970694 # Seafloor depth: -1833.970694 # 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 42 # Segment length 81.315061 meters # Minimum depth: 1830.746847 meters looking forward 0.000000 meters along route # Maximum depth: 1830.746847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.746847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707450; longitude = -122.098349; captureRadius = 10; duration = 162; initialDepth = 1764.689931; finalDepth = 1780.746847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.746847 # Seafloor depth: -1830.746847 # 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 42 # Segment length 81.314783 meters # Minimum depth: 1814.689931 meters looking forward 0.000000 meters along route # Maximum depth: 1814.689931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.689931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707822; longitude = -122.097565; captureRadius = 10; duration = 162; initialDepth = 1754.660603; finalDepth = 1764.689931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.689931 # Seafloor depth: -1814.689931 # 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 42 # Segment length 76.203787 meters # Minimum depth: 1804.660603 meters looking forward 0.000000 meters along route # Maximum depth: 1804.660603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.660603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708195; longitude = -122.096781; captureRadius = 10; duration = 152; initialDepth = 1750.677490; finalDepth = 1754.660603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.660603 # Seafloor depth: -1804.660603 # 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; } # ####################################################### # 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 67.616922 meters # Minimum depth: 1800.677490 meters looking forward 0.000000 meters along route # Maximum depth: 1800.677490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.677490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708544; longitude = -122.096046; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1756.506201; finalDepth = 1750.677490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.67749 # Seafloor depth: -1800.677490 # 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 41 # Segment length 77.712446 meters # Minimum depth: 1806.506201 meters looking forward 0.000000 meters along route # Maximum depth: 1806.506201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.506201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708359; longitude = -122.095325; captureRadius = 10; duration = 155; initialDepth = 1758.579468; finalDepth = 1756.506201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.506201 # Seafloor depth: -1806.506201 # 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 41 # Segment length 77.801696 meters # Minimum depth: 1808.579468 meters looking forward 0.000000 meters along route # Maximum depth: 1808.579468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.579468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708146; longitude = -122.094496; captureRadius = 10; duration = 155; initialDepth = 1757.119415; finalDepth = 1758.579468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.579468 # Seafloor depth: -1808.579468 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 40 # Segment length 101.441431 meters # Minimum depth: 1807.119415 meters looking forward 0.000000 meters along route # Maximum depth: 1807.119415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.119415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707933; longitude = -122.093666; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 1769.218536; finalDepth = 1757.119415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1757.119415 # Seafloor depth: -1807.119415 # 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 40 # Segment length 80.587997 meters # Minimum depth: 1819.218536 meters looking forward 0.000000 meters along route # Maximum depth: 1819.218536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.218536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707480; longitude = -122.094653; captureRadius = 10; duration = 161; initialDepth = 1776.417652; finalDepth = 1769.218536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.218536 # Seafloor depth: -1819.218536 # 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 40 # Segment length 80.588269 meters # Minimum depth: 1826.417652 meters looking forward 0.000000 meters along route # Maximum depth: 1826.417652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.417652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707121; longitude = -122.095437; captureRadius = 10; duration = 161; initialDepth = 1782.401342; finalDepth = 1776.417652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.417652 # Seafloor depth: -1826.417652 # 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 40 # Segment length 80.588539 meters # Minimum depth: 1832.401342 meters looking forward 0.000000 meters along route # Maximum depth: 1832.401342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.401342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706761; longitude = -122.096221; captureRadius = 10; duration = 161; initialDepth = 1787.094199; finalDepth = 1782.401342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.401342 # Seafloor depth: -1832.401342 # 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 40 # Segment length 80.588811 meters # Minimum depth: 1837.094199 meters looking forward 0.000000 meters along route # Maximum depth: 1837.094199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.094199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706402; longitude = -122.097005; captureRadius = 10; duration = 161; initialDepth = 1789.776665; finalDepth = 1787.094199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.094199 # Seafloor depth: -1837.094199 # 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 40 # Segment length 80.589081 meters # Minimum depth: 1839.776665 meters looking forward 0.000000 meters along route # Maximum depth: 1839.776665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.776665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706042; longitude = -122.097789; captureRadius = 10; duration = 161; initialDepth = 1796.277281; finalDepth = 1789.776665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.776665 # Seafloor depth: -1839.776665 # 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 40 # Segment length 80.589353 meters # Minimum depth: 1846.277281 meters looking forward 0.000000 meters along route # Maximum depth: 1846.277281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.277281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705683; longitude = -122.098573; captureRadius = 10; duration = 161; initialDepth = 1795.334717; finalDepth = 1796.277281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.277281 # Seafloor depth: -1846.277281 # 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 40 # Segment length 80.589624 meters # Minimum depth: 1845.334717 meters looking forward 0.000000 meters along route # Maximum depth: 1845.334717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.334717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705323; longitude = -122.099357; captureRadius = 10; duration = 161; initialDepth = 1799.388209; finalDepth = 1795.334717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.334717 # Seafloor depth: -1845.334717 # 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 40 # Segment length 80.589895 meters # Minimum depth: 1849.388209 meters looking forward 0.000000 meters along route # Maximum depth: 1849.388209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.388209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704964; longitude = -122.100140; captureRadius = 10; duration = 161; initialDepth = 1799.777086; finalDepth = 1799.388209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.388209 # Seafloor depth: -1849.388209 # 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 40 # Segment length 80.590166 meters # Minimum depth: 1849.777086 meters looking forward 0.000000 meters along route # Maximum depth: 1849.777086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.777086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704604; longitude = -122.100924; captureRadius = 10; duration = 161; initialDepth = 1803.642640; finalDepth = 1799.777086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.777086 # Seafloor depth: -1849.777086 # 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 40 # Segment length 80.590437 meters # Minimum depth: 1853.642640 meters looking forward 0.000000 meters along route # Maximum depth: 1853.642640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.642640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704245; longitude = -122.101708; captureRadius = 10; duration = 161; initialDepth = 1804.496067; finalDepth = 1803.642640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.64264 # Seafloor depth: -1853.642640 # 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 40 # Segment length 80.590709 meters # Minimum depth: 1854.496067 meters looking forward 0.000000 meters along route # Maximum depth: 1854.496067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.496067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703885; longitude = -122.102492; captureRadius = 10; duration = 161; initialDepth = 1807.435504; finalDepth = 1804.496067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.496067 # Seafloor depth: -1854.496067 # 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 40 # Segment length 80.590979 meters # Minimum depth: 1857.435504 meters looking forward 0.000000 meters along route # Maximum depth: 1857.435504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.435504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703525; longitude = -122.103276; captureRadius = 10; duration = 161; initialDepth = 1808.114787; finalDepth = 1807.435504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.435504 # Seafloor depth: -1857.435504 # 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 40 # Segment length 80.591251 meters # Minimum depth: 1858.114787 meters looking forward 0.000000 meters along route # Maximum depth: 1858.114787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.114787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703166; longitude = -122.104060; captureRadius = 10; duration = 161; initialDepth = 1810.444223; finalDepth = 1808.114787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.114787 # Seafloor depth: -1858.114787 # 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 40 # Segment length 80.591522 meters # Minimum depth: 1860.444223 meters looking forward 0.000000 meters along route # Maximum depth: 1860.444223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.444223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702806; longitude = -122.104844; captureRadius = 10; duration = 161; initialDepth = 1812.431953; finalDepth = 1810.444223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.444223 # Seafloor depth: -1860.444223 # 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 40 # Segment length 80.591793 meters # Minimum depth: 1862.431953 meters looking forward 0.000000 meters along route # Maximum depth: 1862.431953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.431953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702447; longitude = -122.105628; captureRadius = 10; duration = 161; initialDepth = 1816.571181; finalDepth = 1812.431953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.431953 # Seafloor depth: -1862.431953 # 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 40 # Segment length 80.592064 meters # Minimum depth: 1866.571181 meters looking forward 0.000000 meters along route # Maximum depth: 1866.571181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.571181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702087; longitude = -122.106412; captureRadius = 10; duration = 161; initialDepth = 1819.602187; finalDepth = 1816.571181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.571181 # Seafloor depth: -1866.571181 # 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 40 # Segment length 80.592336 meters # Minimum depth: 1869.602187 meters looking forward 0.000000 meters along route # Maximum depth: 1869.602187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.602187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701728; longitude = -122.107196; captureRadius = 10; duration = 161; initialDepth = 1821.532619; finalDepth = 1819.602187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.602187 # Seafloor depth: -1869.602187 # 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 40 # Segment length 80.592607 meters # Minimum depth: 1871.532619 meters looking forward 0.000000 meters along route # Maximum depth: 1871.532619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.532619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701368; longitude = -122.107980; captureRadius = 10; duration = 161; initialDepth = 1823.280682; finalDepth = 1821.532619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1821.532619 # Seafloor depth: -1871.532619 # 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 40 # Segment length 80.592877 meters # Minimum depth: 1873.280682 meters looking forward 0.000000 meters along route # Maximum depth: 1873.280682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.280682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701009; longitude = -122.108764; captureRadius = 10; duration = 161; initialDepth = 1822.977903; finalDepth = 1823.280682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.280682 # Seafloor depth: -1873.280682 # 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 40 # Segment length 80.593149 meters # Minimum depth: 1872.977903 meters looking forward 0.000000 meters along route # Maximum depth: 1872.977903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.977903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700649; longitude = -122.109548; captureRadius = 10; duration = 161; initialDepth = 1821.817319; finalDepth = 1822.977903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.977903 # Seafloor depth: -1872.977903 # 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 40 # Segment length 80.593421 meters # Minimum depth: 1871.817319 meters looking forward 0.000000 meters along route # Maximum depth: 1871.817319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.817319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700290; longitude = -122.110332; captureRadius = 10; duration = 161; initialDepth = 1823.736052; finalDepth = 1821.817319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1821.817319 # Seafloor depth: -1871.817319 # 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 40 # Segment length 80.593691 meters # Minimum depth: 1873.736052 meters looking forward 0.000000 meters along route # Maximum depth: 1873.736052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.736052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699930; longitude = -122.111116; captureRadius = 10; duration = 161; initialDepth = 1823.479644; finalDepth = 1823.736052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.736052 # Seafloor depth: -1873.736052 # 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 40 # Segment length 78.072802 meters # Minimum depth: 1873.479644 meters looking forward 0.000000 meters along route # Maximum depth: 1873.479644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.479644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699570; longitude = -122.111900; captureRadius = 10; duration = 156; initialDepth = 1824.093599; finalDepth = 1823.479644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.479644 # Seafloor depth: -1873.479644 # 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 40 # Segment length 76.472746 meters # Minimum depth: 1874.093599 meters looking forward 0.000000 meters along route # Maximum depth: 1874.093599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.093599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699222; longitude = -122.112659; captureRadius = 10; duration = 152; initialDepth = 1823.367615; finalDepth = 1824.093599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.093599 # Seafloor depth: -1874.093599 # 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; } # ####################################################### # 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 102.426467 meters # Minimum depth: 1873.367615 meters looking forward 0.000000 meters along route # Maximum depth: 1873.367615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.367615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698881; longitude = -122.113403; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 1825.896896; finalDepth = 1823.367615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.367615 # Seafloor depth: -1873.367615 # 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 39 # Segment length 79.110023 meters # Minimum depth: 1875.896896 meters looking forward 0.000000 meters along route # Maximum depth: 1875.896896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.896896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697960; longitude = -122.113319; captureRadius = 10; duration = 158; initialDepth = 1826.965912; finalDepth = 1825.896896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.896896 # Seafloor depth: -1875.896896 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 38 # Segment length 95.622618 meters # Minimum depth: 1876.965912 meters looking forward 0.000000 meters along route # Maximum depth: 1876.965912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.965912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.113254; captureRadius = 10; duration = 191; # abortOnTimeout = True; initialDepth = 1834.887057; finalDepth = 1826.965912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.965912 # Seafloor depth: -1876.965912 # 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 38 # Segment length 80.086255 meters # Minimum depth: 1884.887057 meters looking forward 0.000000 meters along route # Maximum depth: 1884.887057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.887057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697690; longitude = -122.112334; captureRadius = 10; duration = 160; initialDepth = 1841.675090; finalDepth = 1834.887057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.887057 # Seafloor depth: -1884.887057 # 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 38 # Segment length 76.355446 meters # Minimum depth: 1891.675090 meters looking forward 0.000000 meters along route # Maximum depth: 1891.675090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.675090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698059; longitude = -122.111564; captureRadius = 10; duration = 152; initialDepth = 1836.121324; finalDepth = 1841.675090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.67509 # Seafloor depth: -1891.675090 # 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 38 # Segment length 78.220463 meters # Minimum depth: 1886.121324 meters looking forward 0.000000 meters along route # Maximum depth: 1886.121324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.121324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698411; longitude = -122.110829; captureRadius = 10; duration = 156; initialDepth = 1834.768098; finalDepth = 1836.121324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1836.121324 # Seafloor depth: -1886.121324 # 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 38 # Segment length 78.262980 meters # Minimum depth: 1884.768098 meters looking forward 0.000000 meters along route # Maximum depth: 1884.768098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.768098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698771; longitude = -122.110077; captureRadius = 10; duration = 156; initialDepth = 1833.549536; finalDepth = 1834.768098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.768098 # Seafloor depth: -1884.768098 # 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 38 # Segment length 78.177171 meters # Minimum depth: 1883.549536 meters looking forward 0.000000 meters along route # Maximum depth: 1883.549536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.549536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699132; longitude = -122.109324; captureRadius = 10; duration = 156; initialDepth = 1832.198968; finalDepth = 1833.549536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1833.549536 # Seafloor depth: -1883.549536 # 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 38 # Segment length 78.219689 meters # Minimum depth: 1882.198968 meters looking forward 0.000000 meters along route # Maximum depth: 1882.198968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.198968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699493; longitude = -122.108572; captureRadius = 10; duration = 156; initialDepth = 1828.258537; finalDepth = 1832.198968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.198968 # Seafloor depth: -1882.198968 # 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 38 # Segment length 78.219430 meters # Minimum depth: 1878.258537 meters looking forward 0.000000 meters along route # Maximum depth: 1878.258537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.258537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699853; longitude = -122.107819; captureRadius = 10; duration = 156; initialDepth = 1825.703904; finalDepth = 1828.258537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1828.258537 # Seafloor depth: -1878.258537 # 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 38 # Segment length 79.712580 meters # Minimum depth: 1875.703904 meters looking forward 0.000000 meters along route # Maximum depth: 1875.703904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.703904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700214; longitude = -122.107067; captureRadius = 10; duration = 159; initialDepth = 1822.770713; finalDepth = 1825.703904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.703904 # Seafloor depth: -1875.703904 # 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 38 # Segment length 76.725505 meters # Minimum depth: 1872.770713 meters looking forward 0.000000 meters along route # Maximum depth: 1872.770713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.770713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700581; longitude = -122.106300; captureRadius = 10; duration = 153; initialDepth = 1819.963872; finalDepth = 1822.770713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.770713 # Seafloor depth: -1872.770713 # 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 38 # Segment length 78.218655 meters # Minimum depth: 1869.963872 meters looking forward 0.000000 meters along route # Maximum depth: 1869.963872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.963872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700935; longitude = -122.105562; captureRadius = 10; duration = 156; initialDepth = 1815.693411; finalDepth = 1819.963872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.963872 # Seafloor depth: -1869.963872 # 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 38 # Segment length 78.218397 meters # Minimum depth: 1865.693411 meters looking forward 0.000000 meters along route # Maximum depth: 1865.693411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.693411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701295; longitude = -122.104810; captureRadius = 10; duration = 156; initialDepth = 1814.025463; finalDepth = 1815.693411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1815.693411 # Seafloor depth: -1865.693411 # 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 38 # Segment length 81.162141 meters # Minimum depth: 1864.025463 meters looking forward 0.000000 meters along route # Maximum depth: 1864.025463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.025463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701656; longitude = -122.104057; captureRadius = 10; duration = 162; initialDepth = 1811.191438; finalDepth = 1814.025463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1814.025463 # Seafloor depth: -1864.025463 # 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 38 # Segment length 75.273878 meters # Minimum depth: 1861.191438 meters looking forward 0.000000 meters along route # Maximum depth: 1861.191438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.191438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702030; longitude = -122.103276; captureRadius = 10; duration = 150; initialDepth = 1810.683094; finalDepth = 1811.191438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.191438 # Seafloor depth: -1861.191438 # 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 38 # Segment length 78.217622 meters # Minimum depth: 1860.683094 meters looking forward 0.000000 meters along route # Maximum depth: 1860.683094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.683094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702377; longitude = -122.102552; captureRadius = 10; duration = 156; initialDepth = 1808.470067; finalDepth = 1810.683094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.683094 # Seafloor depth: -1860.683094 # 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 38 # Segment length 79.338922 meters # Minimum depth: 1858.470067 meters looking forward 0.000000 meters along route # Maximum depth: 1858.470067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.470067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702738; longitude = -122.101800; captureRadius = 10; duration = 158; initialDepth = 1808.036536; finalDepth = 1808.470067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.470067 # Seafloor depth: -1858.470067 # 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 38 # Segment length 77.095548 meters # Minimum depth: 1858.036536 meters looking forward 0.000000 meters along route # Maximum depth: 1858.036536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.036536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703103; longitude = -122.101036; captureRadius = 10; duration = 154; initialDepth = 1804.087247; finalDepth = 1808.036536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.036536 # Seafloor depth: -1858.036536 # 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 38 # Segment length 78.216848 meters # Minimum depth: 1854.087247 meters looking forward 0.000000 meters along route # Maximum depth: 1854.087247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.087247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703459; longitude = -122.100295; captureRadius = 10; duration = 156; initialDepth = 1804.889812; finalDepth = 1804.087247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.087247 # Seafloor depth: -1854.087247 # 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 38 # Segment length 78.216589 meters # Minimum depth: 1854.889812 meters looking forward 0.000000 meters along route # Maximum depth: 1854.889812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.889812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703819; longitude = -122.099542; captureRadius = 10; duration = 156; initialDepth = 1799.680207; finalDepth = 1804.889812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.889812 # Seafloor depth: -1854.889812 # 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 38 # Segment length 80.788455 meters # Minimum depth: 1849.680207 meters looking forward 0.000000 meters along route # Maximum depth: 1849.680207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.680207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704180; longitude = -122.098790; captureRadius = 10; duration = 161; initialDepth = 1797.928995; finalDepth = 1799.680207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.680207 # Seafloor depth: -1849.680207 # 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 38 # Segment length 75.643949 meters # Minimum depth: 1847.928995 meters looking forward 0.000000 meters along route # Maximum depth: 1847.928995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.928995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704552; longitude = -122.098013; captureRadius = 10; duration = 151; initialDepth = 1791.847625; finalDepth = 1797.928995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.928995 # Seafloor depth: -1847.928995 # 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 38 # Segment length 78.215815 meters # Minimum depth: 1841.847625 meters looking forward 0.000000 meters along route # Maximum depth: 1841.847625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.847625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704901; longitude = -122.097285; captureRadius = 10; duration = 156; initialDepth = 1787.445631; finalDepth = 1791.847625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.847625 # Seafloor depth: -1841.847625 # 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 38 # Segment length 78.965281 meters # Minimum depth: 1837.445631 meters looking forward 0.000000 meters along route # Maximum depth: 1837.445631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.445631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.096532; captureRadius = 10; duration = 157; initialDepth = 1787.125015; finalDepth = 1787.445631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.445631 # Seafloor depth: -1837.445631 # 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 38 # Segment length 81.488226 meters # Minimum depth: 1837.125015 meters looking forward 0.000000 meters along route # Maximum depth: 1837.125015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.125015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705626; longitude = -122.095773; captureRadius = 10; duration = 162; initialDepth = 1784.294486; finalDepth = 1787.125015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.125015 # Seafloor depth: -1837.125015 # 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 38 # Segment length 81.487945 meters # Minimum depth: 1834.294486 meters looking forward 0.000000 meters along route # Maximum depth: 1834.294486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.294486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706001; longitude = -122.094989; captureRadius = 10; duration = 162; initialDepth = 1778.433860; finalDepth = 1784.294486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.294486 # Seafloor depth: -1834.294486 # 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 38 # Segment length 81.487665 meters # Minimum depth: 1828.433860 meters looking forward 0.000000 meters along route # Maximum depth: 1828.433860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.433860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706377; longitude = -122.094205; captureRadius = 10; duration = 162; initialDepth = 1772.994152; finalDepth = 1778.433860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.43386 # Seafloor depth: -1828.433860 # 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 38 # Segment length 81.487384 meters # Minimum depth: 1822.994152 meters looking forward 0.000000 meters along route # Maximum depth: 1822.994152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.994152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706753; longitude = -122.093421; captureRadius = 10; duration = 162; initialDepth = 1763.468006; finalDepth = 1772.994152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.994152 # Seafloor depth: -1822.994152 # 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 38 # Segment length 78.056107 meters # Minimum depth: 1813.468006 meters looking forward 0.000000 meters along route # Maximum depth: 1813.468006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.468006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707128; longitude = -122.092637; captureRadius = 10; duration = 156; initialDepth = 1756.156982; finalDepth = 1763.468006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.468006 # Seafloor depth: -1813.468006 # 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; } # ####################################################### # 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 109.466758 meters # Minimum depth: 1806.156982 meters looking forward 0.000000 meters along route # Maximum depth: 1806.156982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.156982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707488; longitude = -122.091886; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1764.181899; finalDepth = 1756.156982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.156982 # Seafloor depth: -1806.156982 # 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 37 # Segment length 77.825424 meters # Minimum depth: 1814.181899 meters looking forward 0.000000 meters along route # Maximum depth: 1814.181899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.181899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706967; longitude = -122.090845; captureRadius = 10; duration = 155; initialDepth = 1763.867676; finalDepth = 1764.181899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.181899 # Seafloor depth: -1814.181899 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 36 # Segment length 115.246203 meters # Minimum depth: 1813.867676 meters looking forward 0.000000 meters along route # Maximum depth: 1813.867676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.867676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.090105; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 1772.100904; finalDepth = 1763.867676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.867676 # Seafloor depth: -1813.867676 # 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 36 # Segment length 79.272931 meters # Minimum depth: 1822.100904 meters looking forward 0.000000 meters along route # Maximum depth: 1822.100904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.100904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706073; longitude = -122.091219; captureRadius = 10; duration = 158; initialDepth = 1775.896573; finalDepth = 1772.100904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.100904 # Seafloor depth: -1822.100904 # 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 36 # Segment length 79.273195 meters # Minimum depth: 1825.896573 meters looking forward 0.000000 meters along route # Maximum depth: 1825.896573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.896573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705712; longitude = -122.091985; captureRadius = 10; duration = 158; initialDepth = 1780.013583; finalDepth = 1775.896573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.896573 # Seafloor depth: -1825.896573 # 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 36 # Segment length 80.861127 meters # Minimum depth: 1830.013583 meters looking forward 0.000000 meters along route # Maximum depth: 1830.013583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.013583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705352; longitude = -122.092751; captureRadius = 10; duration = 161; initialDepth = 1782.336162; finalDepth = 1780.013583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.013583 # Seafloor depth: -1830.013583 # 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 36 # Segment length 81.109240 meters # Minimum depth: 1832.336162 meters looking forward 0.000000 meters along route # Maximum depth: 1832.336162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.336162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704984; longitude = -122.093533; captureRadius = 10; duration = 162; initialDepth = 1785.714450; finalDepth = 1782.336162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.336162 # Seafloor depth: -1832.336162 # 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 36 # Segment length 75.850802 meters # Minimum depth: 1835.714450 meters looking forward 0.000000 meters along route # Maximum depth: 1835.714450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.714450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704615; longitude = -122.094317; captureRadius = 10; duration = 151; initialDepth = 1789.901893; finalDepth = 1785.714450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.71445 # Seafloor depth: -1835.714450 # 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 36 # Segment length 79.274251 meters # Minimum depth: 1839.901893 meters looking forward 0.000000 meters along route # Maximum depth: 1839.901893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.901893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704270; longitude = -122.095050; captureRadius = 10; duration = 158; initialDepth = 1793.903756; finalDepth = 1789.901893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.901893 # Seafloor depth: -1839.901893 # 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 36 # Segment length 79.274515 meters # Minimum depth: 1843.903756 meters looking forward 0.000000 meters along route # Maximum depth: 1843.903756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.903756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703909; longitude = -122.095816; captureRadius = 10; duration = 158; initialDepth = 1798.635182; finalDepth = 1793.903756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.903756 # Seafloor depth: -1843.903756 # 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 36 # Segment length 79.274779 meters # Minimum depth: 1848.635182 meters looking forward 0.000000 meters along route # Maximum depth: 1848.635182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.635182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703549; longitude = -122.096582; captureRadius = 10; duration = 158; initialDepth = 1799.233505; finalDepth = 1798.635182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.635182 # Seafloor depth: -1848.635182 # 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 36 # Segment length 80.288749 meters # Minimum depth: 1849.233505 meters looking forward 0.000000 meters along route # Maximum depth: 1849.233505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.233505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703188; longitude = -122.097349; captureRadius = 10; duration = 160; initialDepth = 1802.849544; finalDepth = 1799.233505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.233505 # Seafloor depth: -1849.233505 # 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 36 # Segment length 81.110858 meters # Minimum depth: 1852.849544 meters looking forward 0.000000 meters along route # Maximum depth: 1852.849544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.849544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702823; longitude = -122.098125; captureRadius = 10; duration = 162; initialDepth = 1804.633981; finalDepth = 1802.849544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.849544 # Seafloor depth: -1852.849544 # 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 36 # Segment length 76.426315 meters # Minimum depth: 1854.633981 meters looking forward 0.000000 meters along route # Maximum depth: 1854.633981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.633981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702454; longitude = -122.098909; captureRadius = 10; duration = 152; initialDepth = 1805.923911; finalDepth = 1804.633981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.633981 # Seafloor depth: -1854.633981 # 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 36 # Segment length 79.275835 meters # Minimum depth: 1855.923911 meters looking forward 0.000000 meters along route # Maximum depth: 1855.923911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.923911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702107; longitude = -122.099647; captureRadius = 10; duration = 158; initialDepth = 1808.714485; finalDepth = 1805.923911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.923911 # Seafloor depth: -1855.923911 # 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 36 # Segment length 79.276100 meters # Minimum depth: 1858.714485 meters looking forward 0.000000 meters along route # Maximum depth: 1858.714485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.714485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701746; longitude = -122.100413; captureRadius = 10; duration = 158; initialDepth = 1811.036518; finalDepth = 1808.714485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.714485 # Seafloor depth: -1858.714485 # 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 36 # Segment length 79.276363 meters # Minimum depth: 1861.036518 meters looking forward 0.000000 meters along route # Maximum depth: 1861.036518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.036518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701386; longitude = -122.101180; captureRadius = 10; duration = 158; initialDepth = 1812.747524; finalDepth = 1811.036518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.036518 # Seafloor depth: -1861.036518 # 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 36 # Segment length 79.716348 meters # Minimum depth: 1862.747524 meters looking forward 0.000000 meters along route # Maximum depth: 1862.747524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.747524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701025; longitude = -122.101946; captureRadius = 10; duration = 159; initialDepth = 1814.630615; finalDepth = 1812.747524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.747524 # Seafloor depth: -1862.747524 # 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 36 # Segment length 81.112478 meters # Minimum depth: 1864.630615 meters looking forward 0.000000 meters along route # Maximum depth: 1864.630615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.630615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700662; longitude = -122.102716; captureRadius = 10; duration = 162; initialDepth = 1816.456516; finalDepth = 1814.630615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1814.630615 # Seafloor depth: -1864.630615 # 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 36 # Segment length 81.112755 meters # Minimum depth: 1866.456516 meters looking forward 0.000000 meters along route # Maximum depth: 1866.456516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.456516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700293; longitude = -122.103500; captureRadius = 10; duration = 162; initialDepth = 1821.199920; finalDepth = 1816.456516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.456516 # Seafloor depth: -1866.456516 # 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 36 # Segment length 75.166515 meters # Minimum depth: 1871.199920 meters looking forward 0.000000 meters along route # Maximum depth: 1871.199920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.199920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699925; longitude = -122.104284; captureRadius = 10; duration = 150; initialDepth = 1822.969710; finalDepth = 1821.199920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1821.19992 # Seafloor depth: -1871.199920 # 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 36 # Segment length 79.277684 meters # Minimum depth: 1872.969710 meters looking forward 0.000000 meters along route # Maximum depth: 1872.969710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.969710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699583; longitude = -122.105011; captureRadius = 10; duration = 158; initialDepth = 1825.572363; finalDepth = 1822.969710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.96971 # Seafloor depth: -1872.969710 # 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 36 # Segment length 79.277949 meters # Minimum depth: 1875.572363 meters looking forward 0.000000 meters along route # Maximum depth: 1875.572363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.572363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699222; longitude = -122.105777; captureRadius = 10; duration = 158; initialDepth = 1829.328996; finalDepth = 1825.572363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.572363 # Seafloor depth: -1875.572363 # 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 36 # Segment length 79.278212 meters # Minimum depth: 1879.328996 meters looking forward 0.000000 meters along route # Maximum depth: 1879.328996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.328996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698862; longitude = -122.106543; captureRadius = 10; duration = 158; initialDepth = 1831.184460; finalDepth = 1829.328996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.328996 # Seafloor depth: -1879.328996 # 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 36 # Segment length 80.979809 meters # Minimum depth: 1881.184460 meters looking forward 0.000000 meters along route # Maximum depth: 1881.184460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.184460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.107309; captureRadius = 10; duration = 161; initialDepth = 1836.498925; finalDepth = 1831.184460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1831.18446 # Seafloor depth: -1881.184460 # 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 36 # Segment length 81.114375 meters # Minimum depth: 1886.498925 meters looking forward 0.000000 meters along route # Maximum depth: 1886.498925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.498925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698133; longitude = -122.108092; captureRadius = 10; duration = 162; initialDepth = 1839.988341; finalDepth = 1836.498925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1836.498925 # Seafloor depth: -1886.498925 # 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 36 # Segment length 81.114650 meters # Minimum depth: 1889.988341 meters looking forward 0.000000 meters along route # Maximum depth: 1889.988341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.988341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697764; longitude = -122.108876; captureRadius = 10; duration = 162; initialDepth = 1842.567830; finalDepth = 1839.988341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.988341 # Seafloor depth: -1889.988341 # 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 36 # Segment length 81.114928 meters # Minimum depth: 1892.567830 meters looking forward 0.000000 meters along route # Maximum depth: 1892.567830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.567830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697395; longitude = -122.109660; captureRadius = 10; duration = 162; initialDepth = 1843.420011; finalDepth = 1842.567830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1842.56783 # Seafloor depth: -1892.567830 # 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 36 # Segment length 81.115203 meters # Minimum depth: 1893.420011 meters looking forward 0.000000 meters along route # Maximum depth: 1893.420011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.420011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697026; longitude = -122.110444; captureRadius = 10; duration = 162; initialDepth = 1845.598419; finalDepth = 1843.420011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1843.420011 # Seafloor depth: -1893.420011 # 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 36 # Segment length 81.115481 meters # Minimum depth: 1895.598419 meters looking forward 0.000000 meters along route # Maximum depth: 1895.598419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.598419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696657; longitude = -122.111228; captureRadius = 10; duration = 162; initialDepth = 1846.340343; finalDepth = 1845.598419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1845.598419 # Seafloor depth: -1895.598419 # 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 36 # Segment length 82.496408 meters # Minimum depth: 1896.340343 meters looking forward 0.000000 meters along route # Maximum depth: 1896.340343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.340343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696288; longitude = -122.112012; captureRadius = 10; duration = 164; initialDepth = 1838.072815; finalDepth = 1846.340343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.340343 # Seafloor depth: -1896.340343 # 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; } # ####################################################### # 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 83.956076 meters # Minimum depth: 1888.072815 meters looking forward 0.000000 meters along route # Maximum depth: 1888.072815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.072815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.112809; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 1816.727856; finalDepth = 1838.072815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1838.072815 # Seafloor depth: -1888.072815 # 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 35 # Segment length 82.797596 meters # Minimum depth: 1866.727856 meters looking forward 0.000000 meters along route # Maximum depth: 1866.727856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.727856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695166; longitude = -122.112659; captureRadius = 10; duration = 165; initialDepth = 1839.410431; finalDepth = 1816.727856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.727856 # Seafloor depth: -1866.727856 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 34 # Segment length 81.342331 meters # Minimum depth: 1889.410431 meters looking forward 0.000000 meters along route # Maximum depth: 1889.410431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.410431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.112512; captureRadius = 10; duration = 162; # abortOnTimeout = True; initialDepth = 1854.548544; finalDepth = 1839.410431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.410431 # Seafloor depth: -1889.410431 # 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 34 # Segment length 77.943201 meters # Minimum depth: 1904.548544 meters looking forward 0.000000 meters along route # Maximum depth: 1904.548544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.548544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694805; longitude = -122.111731; captureRadius = 10; duration = 155; initialDepth = 1854.243102; finalDepth = 1854.548544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.548544 # Seafloor depth: -1904.548544 # 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 34 # Segment length 79.304653 meters # Minimum depth: 1904.243102 meters looking forward 0.000000 meters along route # Maximum depth: 1904.243102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.243102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695166; longitude = -122.110982; captureRadius = 10; duration = 158; initialDepth = 1851.890457; finalDepth = 1854.243102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.243102 # Seafloor depth: -1904.243102 # 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 34 # Segment length 76.580979 meters # Minimum depth: 1901.890457 meters looking forward 0.000000 meters along route # Maximum depth: 1901.890457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.890457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695533; longitude = -122.110220; captureRadius = 10; duration = 153; initialDepth = 1848.038623; finalDepth = 1851.890457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.890457 # Seafloor depth: -1901.890457 # 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 34 # Segment length 77.942431 meters # Minimum depth: 1898.038623 meters looking forward 0.000000 meters along route # Maximum depth: 1898.038623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.038623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695887; longitude = -122.109484; captureRadius = 10; duration = 155; initialDepth = 1843.879906; finalDepth = 1848.038623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1848.038623 # Seafloor depth: -1898.038623 # 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 34 # Segment length 78.618319 meters # Minimum depth: 1893.879906 meters looking forward 0.000000 meters along route # Maximum depth: 1893.879906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.879906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696248; longitude = -122.108735; captureRadius = 10; duration = 157; initialDepth = 1840.961164; finalDepth = 1843.879906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1843.879906 # Seafloor depth: -1893.879906 # 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 34 # Segment length 77.265772 meters # Minimum depth: 1890.961164 meters looking forward 0.000000 meters along route # Maximum depth: 1890.961164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.961164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696611; longitude = -122.107980; captureRadius = 10; duration = 154; initialDepth = 1839.442822; finalDepth = 1840.961164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.961164 # Seafloor depth: -1890.961164 # 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 34 # Segment length 77.941661 meters # Minimum depth: 1889.442822 meters looking forward 0.000000 meters along route # Maximum depth: 1889.442822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.442822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696969; longitude = -122.107238; captureRadius = 10; duration = 155; initialDepth = 1835.720561; finalDepth = 1839.442822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.442822 # Seafloor depth: -1889.442822 # 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 34 # Segment length 77.941404 meters # Minimum depth: 1885.720561 meters looking forward 0.000000 meters along route # Maximum depth: 1885.720561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.720561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697329; longitude = -122.106489; captureRadius = 10; duration = 155; initialDepth = 1832.564011; finalDepth = 1835.720561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.720561 # Seafloor depth: -1885.720561 # 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 34 # Segment length 77.941147 meters # Minimum depth: 1882.564011 meters looking forward 0.000000 meters along route # Maximum depth: 1882.564011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.564011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697690; longitude = -122.105740; captureRadius = 10; duration = 155; initialDepth = 1829.574703; finalDepth = 1832.564011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.564011 # Seafloor depth: -1882.564011 # 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 34 # Segment length 77.940891 meters # Minimum depth: 1879.574703 meters looking forward 0.000000 meters along route # Maximum depth: 1879.574703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.574703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698050; longitude = -122.104991; captureRadius = 10; duration = 155; initialDepth = 1825.431165; finalDepth = 1829.574703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.574703 # Seafloor depth: -1879.574703 # 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 34 # Segment length 77.940634 meters # Minimum depth: 1875.431165 meters looking forward 0.000000 meters along route # Maximum depth: 1875.431165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.431165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698411; longitude = -122.104242; captureRadius = 10; duration = 155; initialDepth = 1823.132720; finalDepth = 1825.431165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.431165 # Seafloor depth: -1875.431165 # 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 34 # Segment length 77.940378 meters # Minimum depth: 1873.132720 meters looking forward 0.000000 meters along route # Maximum depth: 1873.132720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.132720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698771; longitude = -122.103494; captureRadius = 10; duration = 155; initialDepth = 1820.869004; finalDepth = 1823.132720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.13272 # Seafloor depth: -1873.132720 # 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 34 # Segment length 77.940121 meters # Minimum depth: 1870.869004 meters looking forward 0.000000 meters along route # Maximum depth: 1870.869004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.869004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699132; longitude = -122.102745; captureRadius = 10; duration = 155; initialDepth = 1818.587379; finalDepth = 1820.869004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.869004 # Seafloor depth: -1870.869004 # 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 34 # Segment length 77.939864 meters # Minimum depth: 1868.587379 meters looking forward 0.000000 meters along route # Maximum depth: 1868.587379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.587379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699493; longitude = -122.101996; captureRadius = 10; duration = 155; initialDepth = 1813.740957; finalDepth = 1818.587379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.587379 # Seafloor depth: -1868.587379 # 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 34 # Segment length 80.216190 meters # Minimum depth: 1863.740957 meters looking forward 0.000000 meters along route # Maximum depth: 1863.740957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.740957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699853; longitude = -122.101247; captureRadius = 10; duration = 160; initialDepth = 1812.371568; finalDepth = 1813.740957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1813.740957 # Seafloor depth: -1863.740957 # 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 34 # Segment length 75.662768 meters # Minimum depth: 1862.371568 meters looking forward 0.000000 meters along route # Maximum depth: 1862.371568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.371568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700224; longitude = -122.100476; captureRadius = 10; duration = 151; initialDepth = 1810.920736; finalDepth = 1812.371568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.371568 # Seafloor depth: -1862.371568 # 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 34 # Segment length 77.939094 meters # Minimum depth: 1860.920736 meters looking forward 0.000000 meters along route # Maximum depth: 1860.920736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.920736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700574; longitude = -122.099750; captureRadius = 10; duration = 155; initialDepth = 1807.923262; finalDepth = 1810.920736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.920736 # Seafloor depth: -1860.920736 # 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 34 # Segment length 79.529878 meters # Minimum depth: 1857.923262 meters looking forward 0.000000 meters along route # Maximum depth: 1857.923262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.923262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700935; longitude = -122.099001; captureRadius = 10; duration = 159; initialDepth = 1803.445324; finalDepth = 1807.923262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.923262 # Seafloor depth: -1857.923262 # 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 34 # Segment length 76.347541 meters # Minimum depth: 1853.445324 meters looking forward 0.000000 meters along route # Maximum depth: 1853.445324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.445324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701303; longitude = -122.098237; captureRadius = 10; duration = 152; initialDepth = 1802.799037; finalDepth = 1803.445324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.445324 # Seafloor depth: -1853.445324 # 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 34 # Segment length 77.938325 meters # Minimum depth: 1852.799037 meters looking forward 0.000000 meters along route # Maximum depth: 1852.799037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.799037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701656; longitude = -122.097503; captureRadius = 10; duration = 155; initialDepth = 1798.634313; finalDepth = 1802.799037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.799037 # Seafloor depth: -1852.799037 # 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 34 # Segment length 78.843578 meters # Minimum depth: 1848.634313 meters looking forward 0.000000 meters along route # Maximum depth: 1848.634313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.634313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702017; longitude = -122.096754; captureRadius = 10; duration = 157; initialDepth = 1795.614102; finalDepth = 1798.634313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.634313 # Seafloor depth: -1848.634313 # 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 34 # Segment length 77.032301 meters # Minimum depth: 1845.614102 meters looking forward 0.000000 meters along route # Maximum depth: 1845.614102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.614102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702381; longitude = -122.095997; captureRadius = 10; duration = 154; initialDepth = 1793.523393; finalDepth = 1795.614102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.614102 # Seafloor depth: -1845.614102 # 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 34 # Segment length 77.937554 meters # Minimum depth: 1843.523393 meters looking forward 0.000000 meters along route # Maximum depth: 1843.523393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.523393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702738; longitude = -122.095257; captureRadius = 10; duration = 155; initialDepth = 1790.258798; finalDepth = 1793.523393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.523393 # Seafloor depth: -1843.523393 # 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 34 # Segment length 78.157294 meters # Minimum depth: 1840.258798 meters looking forward 0.000000 meters along route # Maximum depth: 1840.258798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.258798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703098; longitude = -122.094508; captureRadius = 10; duration = 156; initialDepth = 1785.498361; finalDepth = 1790.258798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.258798 # Seafloor depth: -1840.258798 # 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 34 # Segment length 77.717046 meters # Minimum depth: 1835.498361 meters looking forward 0.000000 meters along route # Maximum depth: 1835.498361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.498361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703460; longitude = -122.093757; captureRadius = 10; duration = 155; initialDepth = 1784.153310; finalDepth = 1785.498361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.498361 # Seafloor depth: -1835.498361 # 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 34 # Segment length 77.936785 meters # Minimum depth: 1834.153310 meters looking forward 0.000000 meters along route # Maximum depth: 1834.153310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.153310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703819; longitude = -122.093010; captureRadius = 10; duration = 155; initialDepth = 1781.850771; finalDepth = 1784.153310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.15331 # Seafloor depth: -1834.153310 # 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 34 # Segment length 77.936529 meters # Minimum depth: 1831.850771 meters looking forward 0.000000 meters along route # Maximum depth: 1831.850771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.850771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704180; longitude = -122.092261; captureRadius = 10; duration = 155; initialDepth = 1778.949243; finalDepth = 1781.850771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.850771 # Seafloor depth: -1831.850771 # 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 34 # Segment length 77.936272 meters # Minimum depth: 1828.949243 meters looking forward 0.000000 meters along route # Maximum depth: 1828.949243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.949243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704540; longitude = -122.091513; captureRadius = 10; duration = 155; initialDepth = 1773.429617; finalDepth = 1778.949243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.949243 # Seafloor depth: -1828.949243 # 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 34 # Segment length 77.936015 meters # Minimum depth: 1823.429617 meters looking forward 0.000000 meters along route # Maximum depth: 1823.429617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.429617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704901; longitude = -122.090764; captureRadius = 10; duration = 155; initialDepth = 1769.613336; finalDepth = 1773.429617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.429617 # Seafloor depth: -1823.429617 # 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 34 # Segment length 77.935759 meters # Minimum depth: 1819.613336 meters looking forward 0.000000 meters along route # Maximum depth: 1819.613336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.613336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.090015; captureRadius = 10; duration = 155; initialDepth = 1767.129365; finalDepth = 1769.613336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.613336 # Seafloor depth: -1819.613336 # 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 34 # Segment length 82.544375 meters # Minimum depth: 1817.129365 meters looking forward 0.000000 meters along route # Maximum depth: 1817.129365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.129365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705622; longitude = -122.089266; captureRadius = 10; duration = 165; initialDepth = 1761.883850; finalDepth = 1767.129365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.129365 # Seafloor depth: -1817.129365 # 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; } # ####################################################### # 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 108.855901 meters # Minimum depth: 1811.883850 meters looking forward 0.000000 meters along route # Maximum depth: 1811.883850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.883850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.088473; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 1761.243776; finalDepth = 1761.883850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.88385 # Seafloor depth: -1811.883850 # 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 33 # Segment length 82.185255 meters # Minimum depth: 1811.243776 meters looking forward 0.000000 meters along route # Maximum depth: 1811.243776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.243776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705581; longitude = -122.087373; captureRadius = 10; duration = 164; initialDepth = 1756.190796; finalDepth = 1761.243776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.243776 # Seafloor depth: -1811.243776 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 32 # Segment length 58.981254 meters # Minimum depth: 1806.190796 meters looking forward 0.000000 meters along route # Maximum depth: 1806.190796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.190796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.086543; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1762.562391; finalDepth = 1756.190796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.190796 # Seafloor depth: -1806.190796 # 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 32 # Segment length 78.512787 meters # Minimum depth: 1812.562391 meters looking forward 0.000000 meters along route # Maximum depth: 1812.562391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.562391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704991; longitude = -122.087111; captureRadius = 10; duration = 157; initialDepth = 1764.352944; finalDepth = 1762.562391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.562391 # Seafloor depth: -1812.562391 # 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 32 # Segment length 78.513046 meters # Minimum depth: 1814.352944 meters looking forward 0.000000 meters along route # Maximum depth: 1814.352944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.352944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704631; longitude = -122.087868; captureRadius = 10; duration = 157; initialDepth = 1769.243183; finalDepth = 1764.352944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.352944 # Seafloor depth: -1814.352944 # 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 32 # Segment length 79.447372 meters # Minimum depth: 1819.243183 meters looking forward 0.000000 meters along route # Maximum depth: 1819.243183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.243183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704270; longitude = -122.088624; captureRadius = 10; duration = 158; initialDepth = 1772.950192; finalDepth = 1769.243183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.243183 # Seafloor depth: -1819.243183 # 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 32 # Segment length 77.579501 meters # Minimum depth: 1822.950192 meters looking forward 0.000000 meters along route # Maximum depth: 1822.950192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.950192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703905; longitude = -122.089389; captureRadius = 10; duration = 155; initialDepth = 1776.399625; finalDepth = 1772.950192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.950192 # Seafloor depth: -1822.950192 # 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 32 # Segment length 78.513826 meters # Minimum depth: 1826.399625 meters looking forward 0.000000 meters along route # Maximum depth: 1826.399625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.399625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703549; longitude = -122.090136; captureRadius = 10; duration = 157; initialDepth = 1777.174802; finalDepth = 1776.399625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.399625 # Seafloor depth: -1826.399625 # 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 32 # Segment length 78.514085 meters # Minimum depth: 1827.174802 meters looking forward 0.000000 meters along route # Maximum depth: 1827.174802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.174802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703188; longitude = -122.090893; captureRadius = 10; duration = 157; initialDepth = 1785.081898; finalDepth = 1777.174802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.174802 # Seafloor depth: -1827.174802 # 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 32 # Segment length 79.293510 meters # Minimum depth: 1835.081898 meters looking forward 0.000000 meters along route # Maximum depth: 1835.081898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.081898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702828; longitude = -122.091649; captureRadius = 10; duration = 158; initialDepth = 1784.329052; finalDepth = 1785.081898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.081898 # Seafloor depth: -1835.081898 # 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 32 # Segment length 77.735441 meters # Minimum depth: 1834.329052 meters looking forward 0.000000 meters along route # Maximum depth: 1834.329052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.329052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702464; longitude = -122.092413; captureRadius = 10; duration = 155; initialDepth = 1787.726404; finalDepth = 1784.329052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.329052 # Seafloor depth: -1834.329052 # 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 32 # Segment length 78.514864 meters # Minimum depth: 1837.726404 meters looking forward 0.000000 meters along route # Maximum depth: 1837.726404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.726404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702107; longitude = -122.093162; captureRadius = 10; duration = 157; initialDepth = 1791.762972; finalDepth = 1787.726404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.726404 # Seafloor depth: -1837.726404 # 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 32 # Segment length 78.515125 meters # Minimum depth: 1841.762972 meters looking forward 0.000000 meters along route # Maximum depth: 1841.762972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.762972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701746; longitude = -122.093918; captureRadius = 10; duration = 157; initialDepth = 1794.000641; finalDepth = 1791.762972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.762972 # Seafloor depth: -1841.762972 # 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 32 # Segment length 79.139645 meters # Minimum depth: 1844.000641 meters looking forward 0.000000 meters along route # Maximum depth: 1844.000641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.000641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701386; longitude = -122.094674; captureRadius = 10; duration = 158; initialDepth = 1797.606886; finalDepth = 1794.000641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.000641 # Seafloor depth: -1844.000641 # 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 32 # Segment length 81.383475 meters # Minimum depth: 1847.606886 meters looking forward 0.000000 meters along route # Maximum depth: 1847.606886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.606886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701022; longitude = -122.095437; captureRadius = 10; duration = 162; initialDepth = 1801.618934; finalDepth = 1797.606886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.606886 # Seafloor depth: -1847.606886 # 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 32 # Segment length 75.023813 meters # Minimum depth: 1851.618934 meters looking forward 0.000000 meters along route # Maximum depth: 1851.618934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.618934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700648; longitude = -122.096221; captureRadius = 10; duration = 150; initialDepth = 1801.094149; finalDepth = 1801.618934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1801.618934 # Seafloor depth: -1851.618934 # 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 32 # Segment length 78.516164 meters # Minimum depth: 1851.094149 meters looking forward 0.000000 meters along route # Maximum depth: 1851.094149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.094149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700304; longitude = -122.096943; captureRadius = 10; duration = 157; initialDepth = 1804.809995; finalDepth = 1801.094149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1801.094149 # Seafloor depth: -1851.094149 # 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 32 # Segment length 78.985776 meters # Minimum depth: 1854.809995 meters looking forward 0.000000 meters along route # Maximum depth: 1854.809995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.809995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699943; longitude = -122.097700; captureRadius = 10; duration = 157; initialDepth = 1806.658974; finalDepth = 1804.809995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.809995 # Seafloor depth: -1854.809995 # 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 32 # Segment length 81.384551 meters # Minimum depth: 1856.658974 meters looking forward 0.000000 meters along route # Maximum depth: 1856.658974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.658974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699581; longitude = -122.098461; captureRadius = 10; duration = 162; initialDepth = 1810.691997; finalDepth = 1806.658974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.658974 # Seafloor depth: -1856.658974 # 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 32 # Segment length 75.179723 meters # Minimum depth: 1860.691997 meters looking forward 0.000000 meters along route # Maximum depth: 1860.691997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.691997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699207; longitude = -122.099245; captureRadius = 10; duration = 150; initialDepth = 1814.477037; finalDepth = 1810.691997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.691997 # Seafloor depth: -1860.691997 # 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 32 # Segment length 78.517203 meters # Minimum depth: 1864.477037 meters looking forward 0.000000 meters along route # Maximum depth: 1864.477037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.477037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698862; longitude = -122.099969; captureRadius = 10; duration = 157; initialDepth = 1817.823191; finalDepth = 1814.477037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1814.477037 # Seafloor depth: -1864.477037 # 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 32 # Segment length 78.831903 meters # Minimum depth: 1867.823191 meters looking forward 0.000000 meters along route # Maximum depth: 1867.823191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.823191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.100725; captureRadius = 10; duration = 157; initialDepth = 1820.341758; finalDepth = 1817.823191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.823191 # Seafloor depth: -1867.823191 # 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 32 # Segment length 81.385629 meters # Minimum depth: 1870.341758 meters looking forward 0.000000 meters along route # Maximum depth: 1870.341758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.341758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698139; longitude = -122.101484; captureRadius = 10; duration = 162; initialDepth = 1824.406047; finalDepth = 1820.341758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.341758 # Seafloor depth: -1870.341758 # 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 32 # Segment length 75.335637 meters # Minimum depth: 1874.406047 meters looking forward 0.000000 meters along route # Maximum depth: 1874.406047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.406047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697765; longitude = -122.102268; captureRadius = 10; duration = 150; initialDepth = 1825.905564; finalDepth = 1824.406047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.406047 # Seafloor depth: -1874.406047 # 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 32 # Segment length 78.518243 meters # Minimum depth: 1875.905564 meters looking forward 0.000000 meters along route # Maximum depth: 1875.905564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.905564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697419; longitude = -122.102994; captureRadius = 10; duration = 157; initialDepth = 1829.122506; finalDepth = 1825.905564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.905564 # Seafloor depth: -1875.905564 # 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 32 # Segment length 78.678025 meters # Minimum depth: 1879.122506 meters looking forward 0.000000 meters along route # Maximum depth: 1879.122506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.122506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697059; longitude = -122.103750; captureRadius = 10; duration = 157; initialDepth = 1830.815043; finalDepth = 1829.122506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.122506 # Seafloor depth: -1879.122506 # 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 32 # Segment length 81.386706 meters # Minimum depth: 1880.815043 meters looking forward 0.000000 meters along route # Maximum depth: 1880.815043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.815043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696697; longitude = -122.104508; captureRadius = 10; duration = 162; initialDepth = 1834.060440; finalDepth = 1830.815043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1830.815043 # Seafloor depth: -1880.815043 # 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 32 # Segment length 75.491555 meters # Minimum depth: 1884.060440 meters looking forward 0.000000 meters along route # Maximum depth: 1884.060440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.060440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696324; longitude = -122.105292; captureRadius = 10; duration = 150; initialDepth = 1836.414124; finalDepth = 1834.060440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.06044 # Seafloor depth: -1884.060440 # 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 32 # Segment length 78.519283 meters # Minimum depth: 1886.414124 meters looking forward 0.000000 meters along route # Maximum depth: 1886.414124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.414124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695977; longitude = -122.106019; captureRadius = 10; duration = 157; initialDepth = 1839.381623; finalDepth = 1836.414124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1836.414124 # Seafloor depth: -1886.414124 # 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 32 # Segment length 78.524144 meters # Minimum depth: 1889.381623 meters looking forward 0.000000 meters along route # Maximum depth: 1889.381623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.381623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695617; longitude = -122.106776; captureRadius = 10; duration = 157; initialDepth = 1840.689527; finalDepth = 1839.381623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.381623 # Seafloor depth: -1889.381623 # 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 32 # Segment length 81.387783 meters # Minimum depth: 1890.689527 meters looking forward 0.000000 meters along route # Maximum depth: 1890.689527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.689527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695256; longitude = -122.107532; captureRadius = 10; duration = 162; initialDepth = 1842.269041; finalDepth = 1840.689527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.689527 # Seafloor depth: -1890.689527 # 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 32 # Segment length 75.647478 meters # Minimum depth: 1892.269041 meters looking forward 0.000000 meters along route # Maximum depth: 1892.269041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.269041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694882; longitude = -122.108316; captureRadius = 10; duration = 151; initialDepth = 1852.373948; finalDepth = 1842.269041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1842.269041 # Seafloor depth: -1892.269041 # 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 32 # Segment length 78.520322 meters # Minimum depth: 1902.373948 meters looking forward 0.000000 meters along route # Maximum depth: 1902.373948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.373948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694535; longitude = -122.109045; captureRadius = 10; duration = 157; initialDepth = 1855.590233; finalDepth = 1852.373948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1852.373948 # Seafloor depth: -1902.373948 # 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 32 # Segment length 78.520582 meters # Minimum depth: 1905.590233 meters looking forward 0.000000 meters along route # Maximum depth: 1905.590233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.590233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694174; longitude = -122.109801; captureRadius = 10; duration = 157; initialDepth = 1856.703070; finalDepth = 1855.590233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1855.590233 # Seafloor depth: -1905.590233 # 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 32 # Segment length 81.238537 meters # Minimum depth: 1906.703070 meters looking forward 0.000000 meters along route # Maximum depth: 1906.703070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.703070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693814; longitude = -122.110557; captureRadius = 10; duration = 162; initialDepth = 1859.189081; finalDepth = 1856.703070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1856.70307 # Seafloor depth: -1906.703070 # 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 32 # Segment length 75.502633 meters # Minimum depth: 1909.189081 meters looking forward 0.000000 meters along route # Maximum depth: 1909.189081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.189081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693441; longitude = -122.111340; captureRadius = 10; duration = 151; initialDepth = 1849.585999; finalDepth = 1859.189081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1859.189081 # Seafloor depth: -1909.189081 # 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; } # ####################################################### # 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 70.267190 meters # Minimum depth: 1899.585999 meters looking forward 0.000000 meters along route # Maximum depth: 1899.585999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.585999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693094; longitude = -122.112067; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 1850.534732; finalDepth = 1849.585999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1849.585999 # Seafloor depth: -1899.585999 # 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 31 # Segment length 80.129962 meters # Minimum depth: 1900.534732 meters looking forward 0.000000 meters along route # Maximum depth: 1900.534732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.534732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692462; longitude = -122.112022; captureRadius = 10; duration = 160; initialDepth = 1841.921424; finalDepth = 1850.534732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1850.534732 # Seafloor depth: -1900.534732 # 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 31 # Segment length 80.506945 meters # Minimum depth: 1891.921424 meters looking forward 0.000000 meters along route # Maximum depth: 1891.921424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.921424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691741; longitude = -122.111971; captureRadius = 10; duration = 161; initialDepth = 1832.682648; finalDepth = 1841.921424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.921424 # Seafloor depth: -1891.921424 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 30 # Segment length 57.138508 meters # Minimum depth: 1882.682648 meters looking forward 0.000000 meters along route # Maximum depth: 1882.682648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.682648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691016; longitude = -122.111919; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 1859.326771; finalDepth = 1832.682648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.682648 # Seafloor depth: -1882.682648 # 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 30 # Segment length 75.240500 meters # Minimum depth: 1916.742682 meters looking forward 0.000000 meters along route # Maximum depth: 1916.742682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.326771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691290; longitude = -122.111377; captureRadius = 10; duration = 150; initialDepth = 1868.737626; finalDepth = 1859.326771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4159106618076 # Actual altitude: 57.4159106618076 # Commanded vehicle depth: 1859.32677133819 # Seafloor depth: -1916.742682 # 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 30 # Segment length 75.240260 meters # Minimum depth: 1918.737626 meters looking forward 0.000000 meters along route # Maximum depth: 1918.737626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.737626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691650; longitude = -122.110664; captureRadius = 10; duration = 150; initialDepth = 1866.014333; finalDepth = 1868.737626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4159106618076 # Actual altitude: 57.4159106618076 # Commanded vehicle depth: 1868.737626 # Seafloor depth: -1918.737626 # 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 30 # Segment length 75.240018 meters # Minimum depth: 1916.014333 meters looking forward 0.000000 meters along route # Maximum depth: 1916.014333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.014333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692011; longitude = -122.109951; captureRadius = 10; duration = 150; initialDepth = 1865.103043; finalDepth = 1866.014333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.014333 # Seafloor depth: -1916.014333 # 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 30 # Segment length 75.239776 meters # Minimum depth: 1915.103043 meters looking forward 0.000000 meters along route # Maximum depth: 1915.103043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.103043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692371; longitude = -122.109237; captureRadius = 10; duration = 150; initialDepth = 1861.710975; finalDepth = 1865.103043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1865.103043 # Seafloor depth: -1915.103043 # 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 30 # Segment length 75.239535 meters # Minimum depth: 1911.710975 meters looking forward 0.000000 meters along route # Maximum depth: 1911.710975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.710975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692732; longitude = -122.108524; captureRadius = 10; duration = 150; initialDepth = 1859.084223; finalDepth = 1861.710975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1861.710975 # Seafloor depth: -1911.710975 # 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 30 # Segment length 75.239294 meters # Minimum depth: 1909.084223 meters looking forward 0.000000 meters along route # Maximum depth: 1909.084223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.084223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693093; longitude = -122.107811; captureRadius = 10; duration = 150; initialDepth = 1851.134157; finalDepth = 1859.084223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1859.084223 # Seafloor depth: -1909.084223 # 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 30 # Segment length 75.239053 meters # Minimum depth: 1901.134157 meters looking forward 0.000000 meters along route # Maximum depth: 1901.134157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.134157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693453; longitude = -122.107097; captureRadius = 10; duration = 150; initialDepth = 1848.032898; finalDepth = 1851.134157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.134157 # Seafloor depth: -1901.134157 # 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 30 # Segment length 75.238811 meters # Minimum depth: 1898.032898 meters looking forward 0.000000 meters along route # Maximum depth: 1898.032898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.032898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693814; longitude = -122.106384; captureRadius = 10; duration = 150; initialDepth = 1844.717167; finalDepth = 1848.032898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1848.032898 # Seafloor depth: -1898.032898 # 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 30 # Segment length 75.387555 meters # Minimum depth: 1894.717167 meters looking forward 0.000000 meters along route # Maximum depth: 1894.717167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.717167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694174; longitude = -122.105671; captureRadius = 10; duration = 150; initialDepth = 1840.728714; finalDepth = 1844.717167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1844.717167 # Seafloor depth: -1894.717167 # 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 30 # Segment length 75.089343 meters # Minimum depth: 1890.728714 meters looking forward 0.000000 meters along route # Maximum depth: 1890.728714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.728714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694536; longitude = -122.104956; captureRadius = 10; duration = 150; initialDepth = 1837.485276; finalDepth = 1840.728714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.728714 # Seafloor depth: -1890.728714 # 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 30 # Segment length 75.238087 meters # Minimum depth: 1887.485276 meters looking forward 0.000000 meters along route # Maximum depth: 1887.485276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.485276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694895; longitude = -122.104244; captureRadius = 10; duration = 150; initialDepth = 1833.070582; finalDepth = 1837.485276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1837.485276 # Seafloor depth: -1887.485276 # 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 30 # Segment length 75.237846 meters # Minimum depth: 1883.070582 meters looking forward 0.000000 meters along route # Maximum depth: 1883.070582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.070582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695256; longitude = -122.103531; captureRadius = 10; duration = 150; initialDepth = 1829.114132; finalDepth = 1833.070582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1833.070582 # Seafloor depth: -1883.070582 # 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 30 # Segment length 75.237604 meters # Minimum depth: 1879.114132 meters looking forward 0.000000 meters along route # Maximum depth: 1879.114132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.114132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695617; longitude = -122.102818; captureRadius = 10; duration = 150; initialDepth = 1825.645584; finalDepth = 1829.114132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.114132 # Seafloor depth: -1879.114132 # 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 30 # Segment length 75.237363 meters # Minimum depth: 1875.645584 meters looking forward 0.000000 meters along route # Maximum depth: 1875.645584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.645584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695977; longitude = -122.102104; captureRadius = 10; duration = 150; initialDepth = 1822.134165; finalDepth = 1825.645584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.645584 # Seafloor depth: -1875.645584 # 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 30 # Segment length 75.237122 meters # Minimum depth: 1872.134165 meters looking forward 0.000000 meters along route # Maximum depth: 1872.134165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.134165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696338; longitude = -122.101391; captureRadius = 10; duration = 150; initialDepth = 1818.990126; finalDepth = 1822.134165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.134165 # Seafloor depth: -1872.134165 # 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 30 # Segment length 75.236881 meters # Minimum depth: 1868.990126 meters looking forward 0.000000 meters along route # Maximum depth: 1868.990126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.990126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696698; longitude = -122.100678; captureRadius = 10; duration = 150; initialDepth = 1816.272364; finalDepth = 1818.990126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.990126 # Seafloor depth: -1868.990126 # 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 30 # Segment length 75.236639 meters # Minimum depth: 1866.272364 meters looking forward 0.000000 meters along route # Maximum depth: 1866.272364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.272364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697059; longitude = -122.099964; captureRadius = 10; duration = 150; initialDepth = 1812.959978; finalDepth = 1816.272364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.272364 # Seafloor depth: -1866.272364 # 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 30 # Segment length 75.236398 meters # Minimum depth: 1862.959978 meters looking forward 0.000000 meters along route # Maximum depth: 1862.959978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.959978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697419; longitude = -122.099251; captureRadius = 10; duration = 150; initialDepth = 1810.163340; finalDepth = 1812.959978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.959978 # Seafloor depth: -1862.959978 # 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 30 # Segment length 75.236156 meters # Minimum depth: 1860.163340 meters looking forward 0.000000 meters along route # Maximum depth: 1860.163340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.163340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697780; longitude = -122.098538; captureRadius = 10; duration = 150; initialDepth = 1809.573076; finalDepth = 1810.163340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.16334 # Seafloor depth: -1860.163340 # 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 30 # Segment length 75.235915 meters # Minimum depth: 1859.573076 meters looking forward 0.000000 meters along route # Maximum depth: 1859.573076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.573076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698140; longitude = -122.097825; captureRadius = 10; duration = 150; initialDepth = 1805.919058; finalDepth = 1809.573076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.573076 # Seafloor depth: -1859.573076 # 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 30 # Segment length 75.235674 meters # Minimum depth: 1855.919058 meters looking forward 0.000000 meters along route # Maximum depth: 1855.919058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.919058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.097111; captureRadius = 10; duration = 150; initialDepth = 1802.844234; finalDepth = 1805.919058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.919058 # Seafloor depth: -1855.919058 # 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 30 # Segment length 75.235433 meters # Minimum depth: 1852.844234 meters looking forward 0.000000 meters along route # Maximum depth: 1852.844234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.844234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698862; longitude = -122.096398; captureRadius = 10; duration = 150; initialDepth = 1798.407901; finalDepth = 1802.844234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.844234 # Seafloor depth: -1852.844234 # 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 30 # Segment length 75.235191 meters # Minimum depth: 1848.407901 meters looking forward 0.000000 meters along route # Maximum depth: 1848.407901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.407901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699222; longitude = -122.095685; captureRadius = 10; duration = 150; initialDepth = 1796.313479; finalDepth = 1798.407901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.407901 # Seafloor depth: -1848.407901 # 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 30 # Segment length 75.234951 meters # Minimum depth: 1846.313479 meters looking forward 0.000000 meters along route # Maximum depth: 1846.313479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.313479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699583; longitude = -122.094971; captureRadius = 10; duration = 150; initialDepth = 1791.914980; finalDepth = 1796.313479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.313479 # Seafloor depth: -1846.313479 # 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 30 # Segment length 75.234708 meters # Minimum depth: 1841.914980 meters looking forward 0.000000 meters along route # Maximum depth: 1841.914980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.914980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699943; longitude = -122.094258; captureRadius = 10; duration = 150; initialDepth = 1793.222075; finalDepth = 1791.914980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.91498 # Seafloor depth: -1841.914980 # 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 30 # Segment length 75.234468 meters # Minimum depth: 1843.222075 meters looking forward 0.000000 meters along route # Maximum depth: 1843.222075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.222075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700304; longitude = -122.093545; captureRadius = 10; duration = 150; initialDepth = 1788.759342; finalDepth = 1793.222075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.222075 # Seafloor depth: -1843.222075 # 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 30 # Segment length 75.234227 meters # Minimum depth: 1838.759342 meters looking forward 0.000000 meters along route # Maximum depth: 1838.759342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.759342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700664; longitude = -122.092831; captureRadius = 10; duration = 150; initialDepth = 1785.829991; finalDepth = 1788.759342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.759342 # Seafloor depth: -1838.759342 # 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 30 # Segment length 75.233985 meters # Minimum depth: 1835.829991 meters looking forward 0.000000 meters along route # Maximum depth: 1835.829991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.829991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701025; longitude = -122.092118; captureRadius = 10; duration = 150; initialDepth = 1783.445585; finalDepth = 1785.829991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.829991 # Seafloor depth: -1835.829991 # 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 30 # Segment length 75.233744 meters # Minimum depth: 1833.445585 meters looking forward 0.000000 meters along route # Maximum depth: 1833.445585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.445585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701386; longitude = -122.091405; captureRadius = 10; duration = 150; initialDepth = 1781.279475; finalDepth = 1783.445585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.445585 # Seafloor depth: -1833.445585 # 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 30 # Segment length 75.233502 meters # Minimum depth: 1831.279475 meters looking forward 0.000000 meters along route # Maximum depth: 1831.279475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.279475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701746; longitude = -122.090691; captureRadius = 10; duration = 150; initialDepth = 1779.542114; finalDepth = 1781.279475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.279475 # Seafloor depth: -1831.279475 # 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 30 # Segment length 75.233262 meters # Minimum depth: 1829.542114 meters looking forward 0.000000 meters along route # Maximum depth: 1829.542114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.542114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702107; longitude = -122.089978; captureRadius = 10; duration = 150; initialDepth = 1774.839118; finalDepth = 1779.542114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1779.542114 # Seafloor depth: -1829.542114 # 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 30 # Segment length 75.233020 meters # Minimum depth: 1824.839118 meters looking forward 0.000000 meters along route # Maximum depth: 1824.839118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.839118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702467; longitude = -122.089265; captureRadius = 10; duration = 150; initialDepth = 1772.612531; finalDepth = 1774.839118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.839118 # Seafloor depth: -1824.839118 # 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 30 # Segment length 75.232779 meters # Minimum depth: 1822.612531 meters looking forward 0.000000 meters along route # Maximum depth: 1822.612531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.612531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702828; longitude = -122.088552; captureRadius = 10; duration = 150; initialDepth = 1770.290970; finalDepth = 1772.612531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.612531 # Seafloor depth: -1822.612531 # 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 30 # Segment length 75.232538 meters # Minimum depth: 1820.290970 meters looking forward 0.000000 meters along route # Maximum depth: 1820.290970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.290970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703188; longitude = -122.087838; captureRadius = 10; duration = 150; initialDepth = 1767.771392; finalDepth = 1770.290970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.29097 # Seafloor depth: -1820.290970 # 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 30 # Segment length 75.232296 meters # Minimum depth: 1817.771392 meters looking forward 0.000000 meters along route # Maximum depth: 1817.771392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.771392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703549; longitude = -122.087125; captureRadius = 10; duration = 150; initialDepth = 1763.842930; finalDepth = 1767.771392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.771392 # Seafloor depth: -1817.771392 # 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 30 # Segment length 75.755357 meters # Minimum depth: 1813.842930 meters looking forward 0.000000 meters along route # Maximum depth: 1813.842930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.842930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703909; longitude = -122.086412; captureRadius = 10; duration = 151; initialDepth = 1760.739991; finalDepth = 1763.842930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.84293 # Seafloor depth: -1813.842930 # 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 30 # Segment length 82.517634 meters # Minimum depth: 1810.739991 meters looking forward 0.000000 meters along route # Maximum depth: 1810.739991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.739991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704273; longitude = -122.085693; captureRadius = 10; duration = 165; initialDepth = 1756.659943; finalDepth = 1760.739991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.739991 # Seafloor depth: -1810.739991 # 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; } # ####################################################### # 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 111.023273 meters # Minimum depth: 1806.659943 meters looking forward 0.000000 meters along route # Maximum depth: 1806.659943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.659943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.084911; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 1750.772935; finalDepth = 1756.659943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.659943 # Seafloor depth: -1806.659943 # 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 29 # Segment length 79.940085 meters # Minimum depth: 1800.772935 meters looking forward 0.000000 meters along route # Maximum depth: 1800.772935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.772935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704237; longitude = -122.083790; captureRadius = 10; duration = 159; initialDepth = 1746.964539; finalDepth = 1750.772935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.772935 # Seafloor depth: -1800.772935 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 28 # Segment length 98.258557 meters # Minimum depth: 1796.964539 meters looking forward 0.000000 meters along route # Maximum depth: 1796.964539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.964539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703926; longitude = -122.082982; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 1753.520077; finalDepth = 1746.964539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.964539 # Seafloor depth: -1796.964539 # 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 28 # Segment length 75.823082 meters # Minimum depth: 1803.520077 meters looking forward 0.000000 meters along route # Maximum depth: 1803.520077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.520077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703459; longitude = -122.083916; captureRadius = 10; duration = 151; initialDepth = 1758.391892; finalDepth = 1753.520077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1753.520077 # Seafloor depth: -1803.520077 # 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 28 # Segment length 75.823326 meters # Minimum depth: 1808.391892 meters looking forward 0.000000 meters along route # Maximum depth: 1808.391892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.391892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703098; longitude = -122.084638; captureRadius = 10; duration = 151; initialDepth = 1764.319951; finalDepth = 1758.391892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.391892 # Seafloor depth: -1808.391892 # 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 28 # Segment length 75.823572 meters # Minimum depth: 1814.319951 meters looking forward 0.000000 meters along route # Maximum depth: 1814.319951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.319951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702738; longitude = -122.085359; captureRadius = 10; duration = 151; initialDepth = 1768.743693; finalDepth = 1764.319951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.319951 # Seafloor depth: -1814.319951 # 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 28 # Segment length 75.823815 meters # Minimum depth: 1818.743693 meters looking forward 0.000000 meters along route # Maximum depth: 1818.743693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.743693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702377; longitude = -122.086080; captureRadius = 10; duration = 151; initialDepth = 1773.505570; finalDepth = 1768.743693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.743693 # Seafloor depth: -1818.743693 # 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 28 # Segment length 75.824060 meters # Minimum depth: 1823.505570 meters looking forward 0.000000 meters along route # Maximum depth: 1823.505570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.505570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702017; longitude = -122.086801; captureRadius = 10; duration = 151; initialDepth = 1774.359039; finalDepth = 1773.505570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.50557 # Seafloor depth: -1823.505570 # 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 28 # Segment length 75.824305 meters # Minimum depth: 1824.359039 meters looking forward 0.000000 meters along route # Maximum depth: 1824.359039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.359039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701656; longitude = -122.087522; captureRadius = 10; duration = 151; initialDepth = 1774.570152; finalDepth = 1774.359039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.359039 # Seafloor depth: -1824.359039 # 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 28 # Segment length 75.824550 meters # Minimum depth: 1824.570152 meters looking forward 0.000000 meters along route # Maximum depth: 1824.570152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.570152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701295; longitude = -122.088243; captureRadius = 10; duration = 151; initialDepth = 1778.051288; finalDepth = 1774.570152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.570152 # Seafloor depth: -1824.570152 # 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 28 # Segment length 75.824794 meters # Minimum depth: 1828.051288 meters looking forward 0.000000 meters along route # Maximum depth: 1828.051288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.051288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700935; longitude = -122.088964; captureRadius = 10; duration = 151; initialDepth = 1781.082938; finalDepth = 1778.051288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.051288 # Seafloor depth: -1828.051288 # 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 28 # Segment length 75.825038 meters # Minimum depth: 1831.082938 meters looking forward 0.000000 meters along route # Maximum depth: 1831.082938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.082938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700574; longitude = -122.089685; captureRadius = 10; duration = 151; initialDepth = 1782.323224; finalDepth = 1781.082938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.082938 # Seafloor depth: -1831.082938 # 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 28 # Segment length 75.825283 meters # Minimum depth: 1832.323224 meters looking forward 0.000000 meters along route # Maximum depth: 1832.323224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.323224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700214; longitude = -122.090406; captureRadius = 10; duration = 151; initialDepth = 1782.660333; finalDepth = 1782.323224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.323224 # Seafloor depth: -1832.323224 # 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 28 # Segment length 76.294423 meters # Minimum depth: 1832.660333 meters looking forward 0.000000 meters along route # Maximum depth: 1832.660333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.660333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699853; longitude = -122.091127; captureRadius = 10; duration = 152; initialDepth = 1785.268164; finalDepth = 1782.660333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.660333 # Seafloor depth: -1832.660333 # 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 28 # Segment length 75.356877 meters # Minimum depth: 1835.268164 meters looking forward 0.000000 meters along route # Maximum depth: 1835.268164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.268164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699490; longitude = -122.091853; captureRadius = 10; duration = 150; initialDepth = 1787.483833; finalDepth = 1785.268164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.268164 # Seafloor depth: -1835.268164 # 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 28 # Segment length 75.826017 meters # Minimum depth: 1837.483833 meters looking forward 0.000000 meters along route # Maximum depth: 1837.483833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.483833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699132; longitude = -122.092570; captureRadius = 10; duration = 151; initialDepth = 1790.423294; finalDepth = 1787.483833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.483833 # Seafloor depth: -1837.483833 # 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 28 # Segment length 75.826261 meters # Minimum depth: 1840.423294 meters looking forward 0.000000 meters along route # Maximum depth: 1840.423294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.423294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698771; longitude = -122.093291; captureRadius = 10; duration = 151; initialDepth = 1792.835229; finalDepth = 1790.423294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.423294 # Seafloor depth: -1840.423294 # 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 28 # Segment length 75.826507 meters # Minimum depth: 1842.835229 meters looking forward 0.000000 meters along route # Maximum depth: 1842.835229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.835229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698411; longitude = -122.094012; captureRadius = 10; duration = 151; initialDepth = 1795.480963; finalDepth = 1792.835229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.835229 # Seafloor depth: -1842.835229 # 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 28 # Segment length 75.826750 meters # Minimum depth: 1845.480963 meters looking forward 0.000000 meters along route # Maximum depth: 1845.480963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.480963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698050; longitude = -122.094733; captureRadius = 10; duration = 151; initialDepth = 1796.933276; finalDepth = 1795.480963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.480963 # Seafloor depth: -1845.480963 # 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 28 # Segment length 75.826996 meters # Minimum depth: 1846.933276 meters looking forward 0.000000 meters along route # Maximum depth: 1846.933276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.933276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697690; longitude = -122.095454; captureRadius = 10; duration = 151; initialDepth = 1804.503168; finalDepth = 1796.933276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.933276 # Seafloor depth: -1846.933276 # 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 28 # Segment length 75.827240 meters # Minimum depth: 1854.503168 meters looking forward 0.000000 meters along route # Maximum depth: 1854.503168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.503168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697329; longitude = -122.096175; captureRadius = 10; duration = 151; initialDepth = 1806.977766; finalDepth = 1804.503168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.503168 # Seafloor depth: -1854.503168 # 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 28 # Segment length 75.827484 meters # Minimum depth: 1856.977766 meters looking forward 0.000000 meters along route # Maximum depth: 1856.977766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.977766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696969; longitude = -122.096896; captureRadius = 10; duration = 151; initialDepth = 1808.775075; finalDepth = 1806.977766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.977766 # Seafloor depth: -1856.977766 # 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 28 # Segment length 75.827729 meters # Minimum depth: 1858.775075 meters looking forward 0.000000 meters along route # Maximum depth: 1858.775075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.775075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696608; longitude = -122.097617; captureRadius = 10; duration = 151; initialDepth = 1808.406146; finalDepth = 1808.775075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.775075 # Seafloor depth: -1858.775075 # 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 28 # Segment length 75.827974 meters # Minimum depth: 1858.406146 meters looking forward 0.000000 meters along route # Maximum depth: 1858.406146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.406146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696248; longitude = -122.098338; captureRadius = 10; duration = 151; initialDepth = 1809.403403; finalDepth = 1808.406146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.406146 # Seafloor depth: -1858.406146 # 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 28 # Segment length 75.828219 meters # Minimum depth: 1859.403403 meters looking forward 0.000000 meters along route # Maximum depth: 1859.403403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.403403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695887; longitude = -122.099060; captureRadius = 10; duration = 151; initialDepth = 1807.685925; finalDepth = 1809.403403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.403403 # Seafloor depth: -1859.403403 # 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 28 # Segment length 75.828463 meters # Minimum depth: 1857.685925 meters looking forward 0.000000 meters along route # Maximum depth: 1857.685925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.685925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695526; longitude = -122.099781; captureRadius = 10; duration = 151; initialDepth = 1812.082285; finalDepth = 1807.685925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.685925 # Seafloor depth: -1857.685925 # 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 28 # Segment length 75.828708 meters # Minimum depth: 1862.082285 meters looking forward 0.000000 meters along route # Maximum depth: 1862.082285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.082285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695166; longitude = -122.100502; captureRadius = 10; duration = 151; initialDepth = 1814.433554; finalDepth = 1812.082285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.082285 # Seafloor depth: -1862.082285 # 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 28 # Segment length 75.828952 meters # Minimum depth: 1864.433554 meters looking forward 0.000000 meters along route # Maximum depth: 1864.433554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.433554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694805; longitude = -122.101223; captureRadius = 10; duration = 151; initialDepth = 1817.038902; finalDepth = 1814.433554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1814.433554 # Seafloor depth: -1864.433554 # 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 28 # Segment length 75.829198 meters # Minimum depth: 1867.038902 meters looking forward 0.000000 meters along route # Maximum depth: 1867.038902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.038902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694445; longitude = -122.101944; captureRadius = 10; duration = 151; initialDepth = 1821.297952; finalDepth = 1817.038902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.038902 # Seafloor depth: -1867.038902 # 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 28 # Segment length 76.058068 meters # Minimum depth: 1871.297952 meters looking forward 0.000000 meters along route # Maximum depth: 1871.297952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.297952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694084; longitude = -122.102665; captureRadius = 10; duration = 152; initialDepth = 1822.772779; finalDepth = 1821.297952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1821.297952 # Seafloor depth: -1871.297952 # 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 28 # Segment length 75.601060 meters # Minimum depth: 1872.772779 meters looking forward 0.000000 meters along route # Maximum depth: 1872.772779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.772779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693723; longitude = -122.103388; captureRadius = 10; duration = 151; initialDepth = 1828.391856; finalDepth = 1822.772779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.772779 # Seafloor depth: -1872.772779 # 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 28 # Segment length 75.829931 meters # Minimum depth: 1878.391856 meters looking forward 0.000000 meters along route # Maximum depth: 1878.391856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.391856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693363; longitude = -122.104107; captureRadius = 10; duration = 151; initialDepth = 1836.423588; finalDepth = 1828.391856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1828.391856 # Seafloor depth: -1878.391856 # 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 28 # Segment length 75.830176 meters # Minimum depth: 1886.423588 meters looking forward 0.000000 meters along route # Maximum depth: 1886.423588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.423588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693002; longitude = -122.104828; captureRadius = 10; duration = 151; initialDepth = 1846.293537; finalDepth = 1836.423588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1836.423588 # Seafloor depth: -1886.423588 # 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 28 # Segment length 75.830421 meters # Minimum depth: 1896.293537 meters looking forward 0.000000 meters along route # Maximum depth: 1896.293537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.293537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692642; longitude = -122.105549; captureRadius = 10; duration = 151; initialDepth = 1854.822424; finalDepth = 1846.293537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.293537 # Seafloor depth: -1896.293537 # 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 28 # Segment length 75.830665 meters # Minimum depth: 1904.822424 meters looking forward 0.000000 meters along route # Maximum depth: 1904.822424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.822424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692281; longitude = -122.106270; captureRadius = 10; duration = 151; initialDepth = 1858.618058; finalDepth = 1854.822424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.822424 # Seafloor depth: -1904.822424 # 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 28 # Segment length 75.830910 meters # Minimum depth: 1908.618058 meters looking forward 0.000000 meters along route # Maximum depth: 1908.618058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.618058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691921; longitude = -122.106992; captureRadius = 10; duration = 151; initialDepth = 1860.448110; finalDepth = 1858.618058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1858.618058 # Seafloor depth: -1908.618058 # 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 28 # Segment length 75.831155 meters # Minimum depth: 1910.448110 meters looking forward 0.000000 meters along route # Maximum depth: 1910.448110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.448110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691560; longitude = -122.107713; captureRadius = 10; duration = 151; initialDepth = 1866.346673; finalDepth = 1860.448110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1860.44811 # Seafloor depth: -1910.448110 # 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 28 # Segment length 75.831400 meters # Minimum depth: 1916.346673 meters looking forward 0.000000 meters along route # Maximum depth: 1916.346673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.346673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691200; longitude = -122.108434; captureRadius = 10; duration = 151; initialDepth = 1871.371469; finalDepth = 1866.346673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.346673 # Seafloor depth: -1916.346673 # 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 28 # Segment length 76.661194 meters # Minimum depth: 1921.371469 meters looking forward 0.000000 meters along route # Maximum depth: 1921.371469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.371469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690839; longitude = -122.109155; captureRadius = 10; duration = 153; initialDepth = 1874.097816; finalDepth = 1871.371469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.371469 # Seafloor depth: -1921.371469 # 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 28 # Segment length 82.441659 meters # Minimum depth: 1924.097816 meters looking forward 0.000000 meters along route # Maximum depth: 1924.097816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.097816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690475; longitude = -122.109884; captureRadius = 10; duration = 164; initialDepth = 1872.529017; finalDepth = 1874.097816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1874.097816 # Seafloor depth: -1924.097816 # 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 28 # Segment length 84.677462 meters # Minimum depth: 1922.529017 meters looking forward 0.000000 meters along route # Maximum depth: 1922.529017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.529017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690083; longitude = -122.110668; captureRadius = 10; duration = 169; initialDepth = 1839.632904; finalDepth = 1872.529017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.529017 # Seafloor depth: -1922.529017 # 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; } # ####################################################### # 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 92.400387 meters # Minimum depth: 1889.632904 meters looking forward 0.000000 meters along route # Maximum depth: 1889.632904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.632904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689680; longitude = -122.111473; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 1854.919920; finalDepth = 1839.632904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.632904 # Seafloor depth: -1889.632904 # 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 27 # Segment length 75.695807 meters # Minimum depth: 1904.919920 meters looking forward 0.000000 meters along route # Maximum depth: 1904.919920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.919920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688946; longitude = -122.110984; captureRadius = 10; duration = 151; initialDepth = 1869.566681; finalDepth = 1854.919920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.91992 # Seafloor depth: -1904.919920 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 26 # Segment length 101.687499 meters # Minimum depth: 1919.566681 meters looking forward 0.000000 meters along route # Maximum depth: 1919.566681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.566681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688345; longitude = -122.110583; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 1881.510868; finalDepth = 1869.566681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1869.566681 # Seafloor depth: -1919.566681 # 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 26 # Segment length 82.032113 meters # Minimum depth: 1931.510868 meters looking forward 0.000000 meters along route # Maximum depth: 1931.510868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.510868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688856; longitude = -122.109638; captureRadius = 10; duration = 164; initialDepth = 1881.289091; finalDepth = 1881.510868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.510868 # Seafloor depth: -1931.510868 # 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 26 # Segment length 79.397537 meters # Minimum depth: 1931.289091 meters looking forward 0.000000 meters along route # Maximum depth: 1931.289091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.289091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689268; longitude = -122.108876; captureRadius = 10; duration = 158; initialDepth = 1822.489908; finalDepth = 1881.289091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.289091 # Seafloor depth: -1931.289091 # 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 26 # Segment length 77.287934 meters # Minimum depth: 1872.489908 meters looking forward 0.000000 meters along route # Maximum depth: 1872.489908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.489908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689667; longitude = -122.108138; captureRadius = 10; duration = 154; initialDepth = 1858.529863; finalDepth = 1822.489908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.489908 # Seafloor depth: -1872.489908 # 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 26 # Segment length 84.368663 meters # Minimum depth: 1916.684668 meters looking forward 0.000000 meters along route # Maximum depth: 1916.684668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.529863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690056; longitude = -122.107420; captureRadius = 10; duration = 168; initialDepth = 1867.947364; finalDepth = 1858.529863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1548051931636 # Actual altitude: 58.1548051931636 # Commanded vehicle depth: 1858.52986280684 # Seafloor depth: -1916.684668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.62; 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 = 232.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.368357 meters # Minimum depth: 1917.947364 meters looking forward 0.000000 meters along route # Maximum depth: 1917.947364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.947364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690480; longitude = -122.106636; captureRadius = 10; duration = 168; initialDepth = 1863.192578; finalDepth = 1867.947364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1548051931636 # Actual altitude: 58.1548051931636 # Commanded vehicle depth: 1867.947364 # Seafloor depth: -1917.947364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.62; 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 = 232.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 76.830986 meters # Minimum depth: 1913.192578 meters looking forward 0.000000 meters along route # Maximum depth: 1913.192578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.192578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690904; longitude = -122.105852; captureRadius = 10; duration = 153; initialDepth = 1853.555168; finalDepth = 1863.192578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1863.192578 # Seafloor depth: -1913.192578 # 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 26 # Segment length 79.852294 meters # Minimum depth: 1903.555168 meters looking forward 0.000000 meters along route # Maximum depth: 1903.555168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.555168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691290; longitude = -122.105138; captureRadius = 10; duration = 159; initialDepth = 1839.311741; finalDepth = 1853.555168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1853.555168 # Seafloor depth: -1903.555168 # 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 26 # Segment length 84.367483 meters # Minimum depth: 1889.311741 meters looking forward 0.000000 meters along route # Maximum depth: 1889.311741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.311741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691691; longitude = -122.104396; captureRadius = 10; duration = 168; initialDepth = 1829.239926; finalDepth = 1839.311741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.311741 # Seafloor depth: -1889.311741 # 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 26 # Segment length 86.887302 meters # Minimum depth: 1879.239926 meters looking forward 0.000000 meters along route # Maximum depth: 1879.239926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.239926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692115; longitude = -122.103612; captureRadius = 10; duration = 173; initialDepth = 1818.491281; finalDepth = 1829.239926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.239926 # Seafloor depth: -1879.239926 # 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 26 # Segment length 81.846747 meters # Minimum depth: 1868.491281 meters looking forward 0.000000 meters along route # Maximum depth: 1868.491281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.491281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692552; longitude = -122.102805; captureRadius = 10; duration = 163; initialDepth = 1806.305015; finalDepth = 1818.491281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.491281 # Seafloor depth: -1868.491281 # 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 26 # Segment length 79.577803 meters # Minimum depth: 1856.305015 meters looking forward 0.000000 meters along route # Maximum depth: 1856.305015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.305015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692963; longitude = -122.102044; captureRadius = 10; duration = 159; initialDepth = 1798.274569; finalDepth = 1806.305015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.305015 # Seafloor depth: -1856.305015 # 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 26 # Segment length 77.102719 meters # Minimum depth: 1848.274569 meters looking forward 0.000000 meters along route # Maximum depth: 1848.274569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.274569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693363; longitude = -122.101305; captureRadius = 10; duration = 154; initialDepth = 1795.395769; finalDepth = 1798.274569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.274569 # Seafloor depth: -1848.274569 # 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 26 # Segment length 84.365998 meters # Minimum depth: 1845.395769 meters looking forward 0.000000 meters along route # Maximum depth: 1845.395769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.395769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693751; longitude = -122.100588; captureRadius = 10; duration = 168; initialDepth = 1791.315832; finalDepth = 1795.395769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.395769 # Seafloor depth: -1845.395769 # 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 26 # Segment length 84.365693 meters # Minimum depth: 1841.315832 meters looking forward 0.000000 meters along route # Maximum depth: 1841.315832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.315832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694175; longitude = -122.099804; captureRadius = 10; duration = 168; initialDepth = 1788.719555; finalDepth = 1791.315832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.315832 # Seafloor depth: -1841.315832 # 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 26 # Segment length 77.011331 meters # Minimum depth: 1838.719555 meters looking forward 0.000000 meters along route # Maximum depth: 1838.719555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.719555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694599; longitude = -122.099021; captureRadius = 10; duration = 154; initialDepth = 1788.401540; finalDepth = 1788.719555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.719555 # Seafloor depth: -1838.719555 # 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 26 # Segment length 79.667001 meters # Minimum depth: 1838.401540 meters looking forward 0.000000 meters along route # Maximum depth: 1838.401540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.401540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694986; longitude = -122.098305; captureRadius = 10; duration = 159; initialDepth = 1791.699368; finalDepth = 1788.401540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.40154 # Seafloor depth: -1838.401540 # 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 26 # Segment length 84.364818 meters # Minimum depth: 1841.699368 meters looking forward 0.000000 meters along route # Maximum depth: 1841.699368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.699368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695386; longitude = -122.097565; captureRadius = 10; duration = 168; initialDepth = 1799.103036; finalDepth = 1791.699368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.699368 # Seafloor depth: -1841.699368 # 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 26 # Segment length 79.600172 meters # Minimum depth: 1849.103036 meters looking forward 0.000000 meters along route # Maximum depth: 1849.103036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.103036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695810; longitude = -122.096781; captureRadius = 10; duration = 159; initialDepth = 1798.273621; finalDepth = 1799.103036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.103036 # Seafloor depth: -1849.103036 # 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; } # ####################################################### # 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 106.656750 meters # Minimum depth: 1848.273621 meters looking forward 0.000000 meters along route # Maximum depth: 1848.273621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.273621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696210; longitude = -122.096041; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 1782.304963; finalDepth = 1798.273621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.273621 # Seafloor depth: -1848.273621 # 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 25 # Segment length 80.619880 meters # Minimum depth: 1832.304963 meters looking forward 0.000000 meters along route # Maximum depth: 1832.304963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.304963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695256; longitude = -122.096189; captureRadius = 10; duration = 161; initialDepth = 1761.022102; finalDepth = 1782.304963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.304963 # Seafloor depth: -1832.304963 # 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 25 # Segment length 80.619880 meters # Minimum depth: 1811.022102 meters looking forward 0.000000 meters along route # Maximum depth: 1811.022102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.022102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694535; longitude = -122.096301; captureRadius = 10; duration = 161; initialDepth = 1741.780407; finalDepth = 1761.022102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.022102 # Seafloor depth: -1811.022102 # 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 25 # Segment length 80.619881 meters # Minimum depth: 1791.780407 meters looking forward 0.000000 meters along route # Maximum depth: 1791.780407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.780407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693814; longitude = -122.096413; captureRadius = 10; duration = 161; initialDepth = 1735.483947; finalDepth = 1741.780407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1741.780407 # Seafloor depth: -1791.780407 # 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 25 # Segment length 82.687775 meters # Minimum depth: 1785.483947 meters looking forward 0.000000 meters along route # Maximum depth: 1785.483947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.483947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693093; longitude = -122.096524; captureRadius = 10; duration = 165; initialDepth = 1755.509064; finalDepth = 1735.483947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.483947 # Seafloor depth: -1785.483947 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 24 # Segment length 100.925624 meters # Minimum depth: 1805.509064 meters looking forward 0.000000 meters along route # Maximum depth: 1805.509064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.509064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692353; longitude = -122.096639; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 1746.392884; finalDepth = 1755.509064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1755.509064 # Seafloor depth: -1805.509064 # 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 24 # Segment length 77.333246 meters # Minimum depth: 1796.392884 meters looking forward 0.000000 meters along route # Maximum depth: 1796.392884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.392884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693129; longitude = -122.097229; captureRadius = 10; duration = 154; initialDepth = 1754.317051; finalDepth = 1746.392884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.392884 # Seafloor depth: -1796.392884 # 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 24 # Segment length 76.017745 meters # Minimum depth: 1804.317051 meters looking forward 0.000000 meters along route # Maximum depth: 1804.317051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.317051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693724; longitude = -122.097680; captureRadius = 10; duration = 152; initialDepth = 1767.829428; finalDepth = 1754.317051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.317051 # Seafloor depth: -1804.317051 # 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 24 # Segment length 76.675256 meters # Minimum depth: 1817.829428 meters looking forward 0.000000 meters along route # Maximum depth: 1817.829428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.829428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694308; longitude = -122.098125; captureRadius = 10; duration = 153; initialDepth = 1789.128896; finalDepth = 1767.829428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.829428 # Seafloor depth: -1817.829428 # 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 24 # Segment length 76.675096 meters # Minimum depth: 1839.128896 meters looking forward 0.000000 meters along route # Maximum depth: 1839.128896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.128896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694898; longitude = -122.098573; captureRadius = 10; duration = 153; initialDepth = 1804.885448; finalDepth = 1789.128896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.128896 # Seafloor depth: -1839.128896 # 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 24 # Segment length 76.674935 meters # Minimum depth: 1854.885448 meters looking forward 0.000000 meters along route # Maximum depth: 1854.885448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.885448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695487; longitude = -122.099021; captureRadius = 10; duration = 153; initialDepth = 1811.911063; finalDepth = 1804.885448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.885448 # Seafloor depth: -1854.885448 # 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 24 # Segment length 76.674775 meters # Minimum depth: 1861.911063 meters looking forward 0.000000 meters along route # Maximum depth: 1861.911063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.911063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696077; longitude = -122.099469; captureRadius = 10; duration = 153; initialDepth = 1815.441224; finalDepth = 1811.911063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.911063 # Seafloor depth: -1861.911063 # 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 24 # Segment length 76.674615 meters # Minimum depth: 1865.441224 meters looking forward 0.000000 meters along route # Maximum depth: 1865.441224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.441224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696666; longitude = -122.099916; captureRadius = 10; duration = 153; initialDepth = 1818.681085; finalDepth = 1815.441224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1815.441224 # Seafloor depth: -1865.441224 # 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 24 # Segment length 76.674455 meters # Minimum depth: 1868.681085 meters looking forward 0.000000 meters along route # Maximum depth: 1868.681085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.681085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697256; longitude = -122.100364; captureRadius = 10; duration = 153; initialDepth = 1819.040797; finalDepth = 1818.681085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.681085 # Seafloor depth: -1868.681085 # 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 24 # Segment length 76.674295 meters # Minimum depth: 1869.040797 meters looking forward 0.000000 meters along route # Maximum depth: 1869.040797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.040797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697845; longitude = -122.100812; captureRadius = 10; duration = 153; initialDepth = 1819.939409; finalDepth = 1819.040797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.040797 # Seafloor depth: -1869.040797 # 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 24 # Segment length 76.674135 meters # Minimum depth: 1869.939409 meters looking forward 0.000000 meters along route # Maximum depth: 1869.939409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.939409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698435; longitude = -122.101260; captureRadius = 10; duration = 153; initialDepth = 1817.544553; finalDepth = 1819.939409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.939409 # Seafloor depth: -1869.939409 # 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 24 # Segment length 76.673974 meters # Minimum depth: 1867.544553 meters looking forward 0.000000 meters along route # Maximum depth: 1867.544553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.544553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699024; longitude = -122.101708; captureRadius = 10; duration = 153; initialDepth = 1818.729208; finalDepth = 1817.544553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.544553 # Seafloor depth: -1867.544553 # 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 24 # Segment length 77.994356 meters # Minimum depth: 1868.729208 meters looking forward 0.000000 meters along route # Maximum depth: 1868.729208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.729208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699614; longitude = -122.102156; captureRadius = 10; duration = 155; initialDepth = 1816.934684; finalDepth = 1818.729208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.729208 # Seafloor depth: -1868.729208 # 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 24 # Segment length 75.353113 meters # Minimum depth: 1866.934684 meters looking forward 0.000000 meters along route # Maximum depth: 1866.934684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.934684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700214; longitude = -122.102612; captureRadius = 10; duration = 150; initialDepth = 1815.795975; finalDepth = 1816.934684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.934684 # Seafloor depth: -1866.934684 # 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 24 # Segment length 77.048809 meters # Minimum depth: 1865.795975 meters looking forward 0.000000 meters along route # Maximum depth: 1865.795975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.795975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700793; longitude = -122.103052; captureRadius = 10; duration = 154; initialDepth = 1816.025899; finalDepth = 1815.795975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1815.795975 # Seafloor depth: -1865.795975 # 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 24 # Segment length 76.298020 meters # Minimum depth: 1866.025899 meters looking forward 0.000000 meters along route # Maximum depth: 1866.025899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.025899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701386; longitude = -122.103502; captureRadius = 10; duration = 152; initialDepth = 1812.019732; finalDepth = 1816.025899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.025899 # Seafloor depth: -1866.025899 # 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 24 # Segment length 76.673174 meters # Minimum depth: 1862.019732 meters looking forward 0.000000 meters along route # Maximum depth: 1862.019732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.019732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701972; longitude = -122.103948; captureRadius = 10; duration = 153; initialDepth = 1811.058057; finalDepth = 1812.019732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.019732 # Seafloor depth: -1862.019732 # 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 24 # Segment length 76.673013 meters # Minimum depth: 1861.058057 meters looking forward 0.000000 meters along route # Maximum depth: 1861.058057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.058057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702562; longitude = -122.104396; captureRadius = 10; duration = 153; initialDepth = 1808.696492; finalDepth = 1811.058057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.058057 # Seafloor depth: -1861.058057 # 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 24 # Segment length 76.672854 meters # Minimum depth: 1858.696492 meters looking forward 0.000000 meters along route # Maximum depth: 1858.696492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.696492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703151; longitude = -122.104844; captureRadius = 10; duration = 153; initialDepth = 1806.632339; finalDepth = 1808.696492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.696492 # Seafloor depth: -1858.696492 # 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 24 # Segment length 76.672694 meters # Minimum depth: 1856.632339 meters looking forward 0.000000 meters along route # Maximum depth: 1856.632339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.632339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703741; longitude = -122.105292; captureRadius = 10; duration = 153; initialDepth = 1806.608100; finalDepth = 1806.632339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.632339 # Seafloor depth: -1856.632339 # 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 24 # Segment length 76.672534 meters # Minimum depth: 1856.608100 meters looking forward 0.000000 meters along route # Maximum depth: 1856.608100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.608100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704330; longitude = -122.105740; captureRadius = 10; duration = 153; initialDepth = 1791.367432; finalDepth = 1806.608100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.6081 # Seafloor depth: -1856.608100 # 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 24 # Segment length 76.672373 meters # Minimum depth: 1841.367432 meters looking forward 0.000000 meters along route # Maximum depth: 1841.367432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.367432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704920; longitude = -122.106188; captureRadius = 10; duration = 153; initialDepth = 1775.460940; finalDepth = 1791.367432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.367432 # Seafloor depth: -1841.367432 # 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 24 # Segment length 76.672213 meters # Minimum depth: 1825.460940 meters looking forward 0.000000 meters along route # Maximum depth: 1825.460940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.460940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705509; longitude = -122.106636; captureRadius = 10; duration = 153; initialDepth = 1767.080425; finalDepth = 1775.460940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.46094 # Seafloor depth: -1825.460940 # 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 24 # Segment length 76.672054 meters # Minimum depth: 1817.080425 meters looking forward 0.000000 meters along route # Maximum depth: 1817.080425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.080425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706099; longitude = -122.107084; captureRadius = 10; duration = 153; initialDepth = 1755.427120; finalDepth = 1767.080425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.080425 # Seafloor depth: -1817.080425 # 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 24 # Segment length 76.671893 meters # Minimum depth: 1805.427120 meters looking forward 0.000000 meters along route # Maximum depth: 1805.427120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.427120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706689; longitude = -122.107532; captureRadius = 10; duration = 153; initialDepth = 1763.409465; finalDepth = 1755.427120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1755.42712 # Seafloor depth: -1805.427120 # 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 24 # Segment length 77.709907 meters # Minimum depth: 1813.409465 meters looking forward 0.000000 meters along route # Maximum depth: 1813.409465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.409465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707278; longitude = -122.107980; captureRadius = 10; duration = 155; initialDepth = 1753.127990; finalDepth = 1763.409465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.409465 # Seafloor depth: -1813.409465 # 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 24 # Segment length 75.633399 meters # Minimum depth: 1803.127990 meters looking forward 0.000000 meters along route # Maximum depth: 1803.127990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.127990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707876; longitude = -122.108434; captureRadius = 10; duration = 151; initialDepth = 1745.856081; finalDepth = 1753.127990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1753.12799 # Seafloor depth: -1803.127990 # 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 24 # Segment length 76.764387 meters # Minimum depth: 1795.856081 meters looking forward 0.000000 meters along route # Maximum depth: 1795.856081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.856081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708457; longitude = -122.108876; captureRadius = 10; duration = 153; initialDepth = 1743.818544; finalDepth = 1745.856081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1745.856081 # Seafloor depth: -1795.856081 # 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 24 # Segment length 76.578279 meters # Minimum depth: 1793.818544 meters looking forward 0.000000 meters along route # Maximum depth: 1793.818544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.818544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709047; longitude = -122.109324; captureRadius = 10; duration = 153; initialDepth = 1738.099406; finalDepth = 1743.818544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.818544 # Seafloor depth: -1793.818544 # 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 24 # Segment length 76.671093 meters # Minimum depth: 1788.099406 meters looking forward 0.000000 meters along route # Maximum depth: 1788.099406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.099406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709636; longitude = -122.109772; captureRadius = 10; duration = 153; initialDepth = 1723.683561; finalDepth = 1738.099406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.099406 # Seafloor depth: -1788.099406 # 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 24 # Segment length 76.670932 meters # Minimum depth: 1773.683561 meters looking forward 0.000000 meters along route # Maximum depth: 1773.683561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.683561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710226; longitude = -122.110220; captureRadius = 10; duration = 153; initialDepth = 1707.162694; finalDepth = 1723.683561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1723.683561 # Seafloor depth: -1773.683561 # 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 24 # Segment length 76.670773 meters # Minimum depth: 1757.162694 meters looking forward 0.000000 meters along route # Maximum depth: 1757.162694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.162694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710815; longitude = -122.110668; captureRadius = 10; duration = 153; initialDepth = 1693.180852; finalDepth = 1707.162694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.162694 # Seafloor depth: -1757.162694 # 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 24 # Segment length 76.670612 meters # Minimum depth: 1743.180852 meters looking forward 0.000000 meters along route # Maximum depth: 1743.180852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.180852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711405; longitude = -122.111116; captureRadius = 10; duration = 153; initialDepth = 1682.180111; finalDepth = 1693.180852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.180852 # Seafloor depth: -1743.180852 # 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 24 # Segment length 76.670453 meters # Minimum depth: 1732.180111 meters looking forward 0.000000 meters along route # Maximum depth: 1732.180111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.180111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711994; longitude = -122.111564; captureRadius = 10; duration = 153; initialDepth = 1668.930309; finalDepth = 1682.180111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.180111 # Seafloor depth: -1732.180111 # 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 24 # Segment length 79.316484 meters # Minimum depth: 1718.930309 meters looking forward 0.000000 meters along route # Maximum depth: 1718.930309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.930309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712584; longitude = -122.112012; captureRadius = 10; duration = 158; initialDepth = 1660.305843; finalDepth = 1668.930309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1668.930309 # Seafloor depth: -1718.930309 # 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 24 # Segment length 82.058879 meters # Minimum depth: 1710.305843 meters looking forward 0.000000 meters along route # Maximum depth: 1710.305843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.305843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713194; longitude = -122.112475; captureRadius = 10; duration = 164; initialDepth = 1649.981133; finalDepth = 1660.305843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1660.305843 # Seafloor depth: -1710.305843 # 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 24 # Segment length 79.995752 meters # Minimum depth: 1699.981133 meters looking forward 0.000000 meters along route # Maximum depth: 1699.981133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.981133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713825; longitude = -122.112955; captureRadius = 10; duration = 159; initialDepth = 1649.114075; finalDepth = 1649.981133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1649.981133 # Seafloor depth: -1699.981133 # 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; } # ####################################################### # 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 99.100540 meters # Minimum depth: 1699.114075 meters looking forward 0.000000 meters along route # Maximum depth: 1699.114075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.114075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714440; longitude = -122.113422; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 1646.751184; finalDepth = 1649.114075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1649.114075 # Seafloor depth: -1699.114075 # 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 23 # Segment length 76.584674 meters # Minimum depth: 1696.751184 meters looking forward 0.000000 meters along route # Maximum depth: 1696.751184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.751184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714907; longitude = -122.112476; captureRadius = 10; duration = 153; initialDepth = 1648.136487; finalDepth = 1646.751184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1646.751184 # Seafloor depth: -1696.751184 # 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 23 # Segment length 77.585862 meters # Minimum depth: 1698.136487 meters looking forward 0.000000 meters along route # Maximum depth: 1698.136487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.136487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715267; longitude = -122.111745; captureRadius = 10; duration = 155; initialDepth = 1635.900231; finalDepth = 1648.136487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.136487 # Seafloor depth: -1698.136487 # 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 23 # Segment length 75.582739 meters # Minimum depth: 1685.900231 meters looking forward 0.000000 meters along route # Maximum depth: 1685.900231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.900231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715632; longitude = -122.111004; captureRadius = 10; duration = 151; initialDepth = 1639.685426; finalDepth = 1635.900231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1635.900231 # Seafloor depth: -1685.900231 # 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 23 # Segment length 76.899087 meters # Minimum depth: 1689.685426 meters looking forward 0.000000 meters along route # Maximum depth: 1689.685426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.685426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715988; longitude = -122.110282; captureRadius = 10; duration = 153; initialDepth = 1646.297786; finalDepth = 1639.685426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1639.685426 # Seafloor depth: -1689.685426 # 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 23 # Segment length 79.163637 meters # Minimum depth: 1696.297786 meters looking forward 0.000000 meters along route # Maximum depth: 1696.297786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.297786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716350; longitude = -122.109548; captureRadius = 10; duration = 158; initialDepth = 1644.616119; finalDepth = 1646.297786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1646.297786 # Seafloor depth: -1696.297786 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 22 # Segment length 120.503633 meters # Minimum depth: 1694.616119 meters looking forward 0.000000 meters along route # Maximum depth: 1694.616119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.616119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716723; longitude = -122.108792; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 1655.672080; finalDepth = 1644.616119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1644.616119 # Seafloor depth: -1694.616119 # 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 22 # Segment length 77.112823 meters # Minimum depth: 1705.672080 meters looking forward 0.000000 meters along route # Maximum depth: 1705.672080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.672080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715794; longitude = -122.108092; captureRadius = 10; duration = 154; initialDepth = 1669.981121; finalDepth = 1655.672080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1655.67208 # Seafloor depth: -1705.672080 # 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 22 # Segment length 77.112984 meters # Minimum depth: 1719.981121 meters looking forward 0.000000 meters along route # Maximum depth: 1719.981121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.981121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715200; longitude = -122.107644; captureRadius = 10; duration = 154; initialDepth = 1685.619237; finalDepth = 1669.981121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.981121 # Seafloor depth: -1719.981121 # 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 22 # Segment length 77.966617 meters # Minimum depth: 1735.619237 meters looking forward 0.000000 meters along route # Maximum depth: 1735.619237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.619237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714606; longitude = -122.107196; captureRadius = 10; duration = 155; initialDepth = 1692.976327; finalDepth = 1685.619237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1685.619237 # Seafloor depth: -1735.619237 # 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 22 # Segment length 76.259831 meters # Minimum depth: 1742.976327 meters looking forward 0.000000 meters along route # Maximum depth: 1742.976327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.976327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714005; longitude = -122.106743; captureRadius = 10; duration = 152; initialDepth = 1708.719428; finalDepth = 1692.976327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.976327 # Seafloor depth: -1742.976327 # 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 22 # Segment length 77.113464 meters # Minimum depth: 1758.719428 meters looking forward 0.000000 meters along route # Maximum depth: 1758.719428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.719428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713418; longitude = -122.106300; captureRadius = 10; duration = 154; initialDepth = 1721.559580; finalDepth = 1708.719428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1708.719428 # Seafloor depth: -1758.719428 # 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 22 # Segment length 77.113625 meters # Minimum depth: 1771.559580 meters looking forward 0.000000 meters along route # Maximum depth: 1771.559580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.559580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712823; longitude = -122.105852; captureRadius = 10; duration = 154; initialDepth = 1723.016991; finalDepth = 1721.559580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.55958 # Seafloor depth: -1771.559580 # 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 22 # Segment length 77.113786 meters # Minimum depth: 1773.016991 meters looking forward 0.000000 meters along route # Maximum depth: 1773.016991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.016991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712229; longitude = -122.105404; captureRadius = 10; duration = 154; initialDepth = 1720.075137; finalDepth = 1723.016991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1723.016991 # Seafloor depth: -1773.016991 # 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 22 # Segment length 78.423087 meters # Minimum depth: 1770.075137 meters looking forward 0.000000 meters along route # Maximum depth: 1770.075137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.075137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711635; longitude = -122.104956; captureRadius = 10; duration = 156; initialDepth = 1734.722941; finalDepth = 1720.075137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1720.075137 # Seafloor depth: -1770.075137 # 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 22 # Segment length 75.804965 meters # Minimum depth: 1784.722941 meters looking forward 0.000000 meters along route # Maximum depth: 1784.722941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.722941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711031; longitude = -122.104501; captureRadius = 10; duration = 151; initialDepth = 1744.964010; finalDepth = 1734.722941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1734.722941 # Seafloor depth: -1784.722941 # 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 22 # Segment length 77.114266 meters # Minimum depth: 1794.964010 meters looking forward 0.000000 meters along route # Maximum depth: 1794.964010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.964010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710446; longitude = -122.104060; captureRadius = 10; duration = 154; initialDepth = 1756.979420; finalDepth = 1744.964010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.96401 # Seafloor depth: -1794.964010 # 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 22 # Segment length 77.114427 meters # Minimum depth: 1806.979420 meters looking forward 0.000000 meters along route # Maximum depth: 1806.979420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.979420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709852; longitude = -122.103612; captureRadius = 10; duration = 154; initialDepth = 1767.238623; finalDepth = 1756.979420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.97942 # Seafloor depth: -1806.979420 # 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 22 # Segment length 77.114588 meters # Minimum depth: 1817.238623 meters looking forward 0.000000 meters along route # Maximum depth: 1817.238623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.238623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709258; longitude = -122.103164; captureRadius = 10; duration = 154; initialDepth = 1761.785204; finalDepth = 1767.238623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.238623 # Seafloor depth: -1817.238623 # 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 22 # Segment length 78.879566 meters # Minimum depth: 1811.785204 meters looking forward 0.000000 meters along route # Maximum depth: 1811.785204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.785204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708664; longitude = -122.102716; captureRadius = 10; duration = 157; initialDepth = 1763.612626; finalDepth = 1761.785204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.785204 # Seafloor depth: -1811.785204 # 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 22 # Segment length 75.350090 meters # Minimum depth: 1813.612626 meters looking forward 0.000000 meters along route # Maximum depth: 1813.612626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.612626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708056; longitude = -122.102258; captureRadius = 10; duration = 150; initialDepth = 1784.523586; finalDepth = 1763.612626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.612626 # Seafloor depth: -1813.612626 # 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 22 # Segment length 77.115068 meters # Minimum depth: 1834.523586 meters looking forward 0.000000 meters along route # Maximum depth: 1834.523586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.523586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707475; longitude = -122.101820; captureRadius = 10; duration = 154; initialDepth = 1788.789573; finalDepth = 1784.523586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.523586 # Seafloor depth: -1834.523586 # 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 22 # Segment length 77.115229 meters # Minimum depth: 1838.789573 meters looking forward 0.000000 meters along route # Maximum depth: 1838.789573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.789573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706881; longitude = -122.101372; captureRadius = 10; duration = 154; initialDepth = 1791.858156; finalDepth = 1788.789573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.789573 # Seafloor depth: -1838.789573 # 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 22 # Segment length 77.115390 meters # Minimum depth: 1841.858156 meters looking forward 0.000000 meters along route # Maximum depth: 1841.858156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.858156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706287; longitude = -122.100924; captureRadius = 10; duration = 154; initialDepth = 1794.918166; finalDepth = 1791.858156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.858156 # Seafloor depth: -1841.858156 # 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 22 # Segment length 77.115550 meters # Minimum depth: 1844.918166 meters looking forward 0.000000 meters along route # Maximum depth: 1844.918166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.918166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705693; longitude = -122.100476; captureRadius = 10; duration = 154; initialDepth = 1798.474804; finalDepth = 1794.918166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.918166 # Seafloor depth: -1844.918166 # 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 22 # Segment length 77.115710 meters # Minimum depth: 1848.474804 meters looking forward 0.000000 meters along route # Maximum depth: 1848.474804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.474804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705098; longitude = -122.100028; captureRadius = 10; duration = 154; initialDepth = 1799.672995; finalDepth = 1798.474804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.474804 # Seafloor depth: -1848.474804 # 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 22 # Segment length 77.179045 meters # Minimum depth: 1849.672995 meters looking forward 0.000000 meters along route # Maximum depth: 1849.672995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.672995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704504; longitude = -122.099580; captureRadius = 10; duration = 154; initialDepth = 1804.763154; finalDepth = 1799.672995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.672995 # Seafloor depth: -1849.672995 # 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 22 # Segment length 77.052857 meters # Minimum depth: 1854.763154 meters looking forward 0.000000 meters along route # Maximum depth: 1854.763154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.763154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703909; longitude = -122.099132; captureRadius = 10; duration = 154; initialDepth = 1797.419502; finalDepth = 1804.763154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.763154 # Seafloor depth: -1854.763154 # 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 22 # Segment length 77.116192 meters # Minimum depth: 1847.419502 meters looking forward 0.000000 meters along route # Maximum depth: 1847.419502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.419502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703316; longitude = -122.098685; captureRadius = 10; duration = 154; initialDepth = 1804.021025; finalDepth = 1797.419502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.419502 # Seafloor depth: -1847.419502 # 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 22 # Segment length 77.116352 meters # Minimum depth: 1854.021025 meters looking forward 0.000000 meters along route # Maximum depth: 1854.021025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.021025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702721; longitude = -122.098237; captureRadius = 10; duration = 154; initialDepth = 1800.983568; finalDepth = 1804.021025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.021025 # Seafloor depth: -1854.021025 # 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 22 # Segment length 77.116512 meters # Minimum depth: 1850.983568 meters looking forward 0.000000 meters along route # Maximum depth: 1850.983568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.983568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702127; longitude = -122.097789; captureRadius = 10; duration = 154; initialDepth = 1802.643170; finalDepth = 1800.983568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1800.983568 # Seafloor depth: -1850.983568 # 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 22 # Segment length 77.635522 meters # Minimum depth: 1852.643170 meters looking forward 0.000000 meters along route # Maximum depth: 1852.643170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.643170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701533; longitude = -122.097341; captureRadius = 10; duration = 155; initialDepth = 1798.935127; finalDepth = 1802.643170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.64317 # Seafloor depth: -1852.643170 # 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 22 # Segment length 76.597984 meters # Minimum depth: 1848.935127 meters looking forward 0.000000 meters along route # Maximum depth: 1848.935127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.935127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700935; longitude = -122.096890; captureRadius = 10; duration = 153; initialDepth = 1799.373222; finalDepth = 1798.935127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.935127 # Seafloor depth: -1848.935127 # 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 22 # Segment length 77.116994 meters # Minimum depth: 1849.373222 meters looking forward 0.000000 meters along route # Maximum depth: 1849.373222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.373222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700345; longitude = -122.096445; captureRadius = 10; duration = 154; initialDepth = 1799.934572; finalDepth = 1799.373222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.373222 # Seafloor depth: -1849.373222 # 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 22 # Segment length 80.249061 meters # Minimum depth: 1849.934572 meters looking forward 0.000000 meters along route # Maximum depth: 1849.934572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.934572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699750; longitude = -122.095997; captureRadius = 10; duration = 160; initialDepth = 1798.134434; finalDepth = 1799.934572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.934572 # Seafloor depth: -1849.934572 # 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 22 # Segment length 81.887763 meters # Minimum depth: 1848.134434 meters looking forward 0.000000 meters along route # Maximum depth: 1848.134434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.134434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699132; longitude = -122.095531; captureRadius = 10; duration = 163; initialDepth = 1796.048704; finalDepth = 1798.134434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.134434 # Seafloor depth: -1848.134434 # 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 22 # Segment length 81.887943 meters # Minimum depth: 1846.048704 meters looking forward 0.000000 meters along route # Maximum depth: 1846.048704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.048704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.095055; captureRadius = 10; duration = 163; initialDepth = 1795.065883; finalDepth = 1796.048704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.048704 # Seafloor depth: -1846.048704 # 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 22 # Segment length 80.599586 meters # Minimum depth: 1845.065883 meters looking forward 0.000000 meters along route # Maximum depth: 1845.065883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.065883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697870; longitude = -122.094579; captureRadius = 10; duration = 161; initialDepth = 1781.028503; finalDepth = 1795.065883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.065883 # Seafloor depth: -1845.065883 # 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 to get to end of line 21 # Segment length 129.535447 meters # Minimum depth: 1831.028503 meters looking forward 0.000000 meters along route # Maximum depth: 1831.028503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.028503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.094111; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 1778.153454; finalDepth = 1781.028503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.028503 # Seafloor depth: -1831.028503 # 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 21 # Segment length 85.205863 meters # Minimum depth: 1828.153454 meters looking forward 0.000000 meters along route # Maximum depth: 1828.153454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.153454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.092749; captureRadius = 10; duration = 170; initialDepth = 1783.832595; finalDepth = 1778.153454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.153454 # Seafloor depth: -1828.153454 # 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 21 # Segment length 85.205621 meters # Minimum depth: 1833.832595 meters looking forward 0.000000 meters along route # Maximum depth: 1833.832595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.832595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697913; longitude = -122.091853; captureRadius = 10; duration = 170; initialDepth = 1780.531177; finalDepth = 1783.832595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.832595 # Seafloor depth: -1833.832595 # 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 21 # Segment length 85.205378 meters # Minimum depth: 1830.531177 meters looking forward 0.000000 meters along route # Maximum depth: 1830.531177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.531177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698176; longitude = -122.090957; captureRadius = 10; duration = 170; initialDepth = 1779.989699; finalDepth = 1780.531177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.531177 # Seafloor depth: -1830.531177 # 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 21 # Segment length 85.205135 meters # Minimum depth: 1829.989699 meters looking forward 0.000000 meters along route # Maximum depth: 1829.989699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.989699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698440; longitude = -122.090061; captureRadius = 10; duration = 170; initialDepth = 1777.103225; finalDepth = 1779.989699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1779.989699 # Seafloor depth: -1829.989699 # 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 21 # Segment length 85.204894 meters # Minimum depth: 1827.103225 meters looking forward 0.000000 meters along route # Maximum depth: 1827.103225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.103225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698703; longitude = -122.089165; captureRadius = 10; duration = 170; initialDepth = 1774.693326; finalDepth = 1777.103225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.103225 # Seafloor depth: -1827.103225 # 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 21 # Segment length 85.204651 meters # Minimum depth: 1824.693326 meters looking forward 0.000000 meters along route # Maximum depth: 1824.693326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.693326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698966; longitude = -122.088269; captureRadius = 10; duration = 170; initialDepth = 1771.268473; finalDepth = 1774.693326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.693326 # Seafloor depth: -1824.693326 # 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 21 # Segment length 78.959622 meters # Minimum depth: 1821.268473 meters looking forward 0.000000 meters along route # Maximum depth: 1821.268473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.268473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699230; longitude = -122.087373; captureRadius = 10; duration = 157; initialDepth = 1769.193329; finalDepth = 1771.268473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1771.268473 # Seafloor depth: -1821.268473 # 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 to get to end of line 20 # Segment length 72.127792 meters # Minimum depth: 1819.193329 meters looking forward 0.000000 meters along route # Maximum depth: 1819.193329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.193329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.086543; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 1767.126619; finalDepth = 1769.193329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.193329 # Seafloor depth: -1819.193329 # 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 20 # Segment length 76.658122 meters # Minimum depth: 1817.126619 meters looking forward 0.000000 meters along route # Maximum depth: 1817.126619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.126619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699210; longitude = -122.085805; captureRadius = 10; duration = 153; initialDepth = 1764.449953; finalDepth = 1767.126619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.126619 # Seafloor depth: -1817.126619 # 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 20 # Segment length 76.658365 meters # Minimum depth: 1814.449953 meters looking forward 0.000000 meters along route # Maximum depth: 1814.449953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.449953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698929; longitude = -122.085021; captureRadius = 10; duration = 153; initialDepth = 1763.119178; finalDepth = 1764.449953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.449953 # Seafloor depth: -1814.449953 # 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 20 # Segment length 76.658609 meters # Minimum depth: 1813.119178 meters looking forward 0.000000 meters along route # Maximum depth: 1813.119178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.119178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698648; longitude = -122.084237; captureRadius = 10; duration = 153; initialDepth = 1760.917149; finalDepth = 1763.119178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.119178 # Seafloor depth: -1813.119178 # 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 20 # Segment length 76.658851 meters # Minimum depth: 1810.917149 meters looking forward 0.000000 meters along route # Maximum depth: 1810.917149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.917149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698367; longitude = -122.083454; captureRadius = 10; duration = 153; initialDepth = 1758.372516; finalDepth = 1760.917149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.917149 # Seafloor depth: -1810.917149 # 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 20 # Segment length 76.659095 meters # Minimum depth: 1808.372516 meters looking forward 0.000000 meters along route # Maximum depth: 1808.372516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.372516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698085; longitude = -122.082670; captureRadius = 10; duration = 153; initialDepth = 1752.035266; finalDepth = 1758.372516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.372516 # Seafloor depth: -1808.372516 # 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 20 # Segment length 76.659338 meters # Minimum depth: 1802.035266 meters looking forward 0.000000 meters along route # Maximum depth: 1802.035266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.035266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697804; longitude = -122.081886; captureRadius = 10; duration = 153; initialDepth = 1747.927293; finalDepth = 1752.035266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.035266 # Seafloor depth: -1802.035266 # 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 20 # Segment length 77.576595 meters # Minimum depth: 1797.927293 meters looking forward 0.000000 meters along route # Maximum depth: 1797.927293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.927293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697523; longitude = -122.081102; captureRadius = 10; duration = 155; initialDepth = 1742.223333; finalDepth = 1747.927293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1747.927293 # Seafloor depth: -1797.927293 # 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 20 # Segment length 75.742810 meters # Minimum depth: 1792.223333 meters looking forward 0.000000 meters along route # Maximum depth: 1792.223333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.223333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697239; longitude = -122.080308; captureRadius = 10; duration = 151; initialDepth = 1737.754032; finalDepth = 1742.223333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1742.223333 # Seafloor depth: -1792.223333 # 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 20 # Segment length 83.586067 meters # Minimum depth: 1787.754032 meters looking forward 0.000000 meters along route # Maximum depth: 1787.754032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.754032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696961; longitude = -122.079534; captureRadius = 10; duration = 167; initialDepth = 1726.835236; finalDepth = 1737.754032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.754032 # Seafloor depth: -1787.754032 # 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 to get to end of line 19 # Segment length 95.858841 meters # Minimum depth: 1776.835236 meters looking forward 0.000000 meters along route # Maximum depth: 1776.835236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.835236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696655; longitude = -122.078679; captureRadius = 10; duration = 191; # abortOnTimeout = True; initialDepth = 1717.623475; finalDepth = 1726.835236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1726.835236 # Seafloor depth: -1776.835236 # 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 19 # Segment length 81.864584 meters # Minimum depth: 1767.623475 meters looking forward 0.000000 meters along route # Maximum depth: 1767.623475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.623475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696474; longitude = -122.077630; captureRadius = 10; duration = 163; initialDepth = 1716.282467; finalDepth = 1717.623475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1717.623475 # Seafloor depth: -1767.623475 # 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 19 # Segment length 85.213351 meters # Minimum depth: 1766.282467 meters looking forward 0.000000 meters along route # Maximum depth: 1766.282467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.282467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696319; longitude = -122.076734; captureRadius = 10; duration = 170; initialDepth = 1712.481905; finalDepth = 1716.282467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.282467 # Seafloor depth: -1766.282467 # 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 19 # Segment length 78.516329 meters # Minimum depth: 1762.481905 meters looking forward 0.000000 meters along route # Maximum depth: 1762.481905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.481905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696157; longitude = -122.075801; captureRadius = 10; duration = 157; initialDepth = 1710.901246; finalDepth = 1712.481905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1712.481905 # Seafloor depth: -1762.481905 # 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 19 # Segment length 81.865095 meters # Minimum depth: 1760.901246 meters looking forward 0.000000 meters along route # Maximum depth: 1760.901246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.901246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696009; longitude = -122.074942; captureRadius = 10; duration = 163; initialDepth = 1702.554664; finalDepth = 1710.901246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.901246 # Seafloor depth: -1760.901246 # 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 19 # Segment length 81.865265 meters # Minimum depth: 1752.554664 meters looking forward 0.000000 meters along route # Maximum depth: 1752.554664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.554664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695854; longitude = -122.074046; captureRadius = 10; duration = 163; initialDepth = 1698.639660; finalDepth = 1702.554664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.554664 # Seafloor depth: -1752.554664 # 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 19 # Segment length 81.865436 meters # Minimum depth: 1748.639660 meters looking forward 0.000000 meters along route # Maximum depth: 1748.639660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.639660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695699; longitude = -122.073150; captureRadius = 10; duration = 163; initialDepth = 1690.668719; finalDepth = 1698.639660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.63966 # Seafloor depth: -1748.639660 # 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 19 # Segment length 81.865607 meters # Minimum depth: 1740.668719 meters looking forward 0.000000 meters along route # Maximum depth: 1740.668719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.668719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695544; longitude = -122.072254; captureRadius = 10; duration = 163; initialDepth = 1691.969950; finalDepth = 1690.668719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1690.668719 # Seafloor depth: -1740.668719 # 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 19 # Segment length 81.865776 meters # Minimum depth: 1741.969950 meters looking forward 0.000000 meters along route # Maximum depth: 1741.969950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.969950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695389; longitude = -122.071358; captureRadius = 10; duration = 163; initialDepth = 1686.670705; finalDepth = 1691.969950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.96995 # Seafloor depth: -1741.969950 # 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 19 # Segment length 83.720982 meters # Minimum depth: 1736.670705 meters looking forward 0.000000 meters along route # Maximum depth: 1736.670705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.670705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695234; longitude = -122.070462; captureRadius = 10; duration = 167; initialDepth = 1688.131366; finalDepth = 1686.670705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1686.670705 # Seafloor depth: -1736.670705 # 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 19 # Segment length 80.011083 meters # Minimum depth: 1738.131366 meters looking forward 0.000000 meters along route # Maximum depth: 1738.131366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.131366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695076; longitude = -122.069546; captureRadius = 10; duration = 160; initialDepth = 1683.711142; finalDepth = 1688.131366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1688.131366 # Seafloor depth: -1738.131366 # 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 19 # Segment length 81.866287 meters # Minimum depth: 1733.711142 meters looking forward 0.000000 meters along route # Maximum depth: 1733.711142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.711142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694924; longitude = -122.068670; captureRadius = 10; duration = 163; initialDepth = 1684.463230; finalDepth = 1683.711142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1683.711142 # Seafloor depth: -1733.711142 # 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 19 # Segment length 76.276952 meters # Minimum depth: 1734.463230 meters looking forward 0.000000 meters along route # Maximum depth: 1734.463230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.463230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694769; longitude = -122.067775; captureRadius = 10; duration = 152; initialDepth = 1688.255748; finalDepth = 1684.463230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.46323 # Seafloor depth: -1734.463230 # 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 19 # Segment length 77.222797 meters # Minimum depth: 1738.255748 meters looking forward 0.000000 meters along route # Maximum depth: 1738.255748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.255748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694625; longitude = -122.066940; captureRadius = 10; duration = 154; initialDepth = 1692.815018; finalDepth = 1688.255748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1688.255748 # Seafloor depth: -1738.255748 # 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 19 # Segment length 81.866778 meters # Minimum depth: 1742.815018 meters looking forward 0.000000 meters along route # Maximum depth: 1742.815018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.815018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694479; longitude = -122.066095; captureRadius = 10; duration = 163; initialDepth = 1691.032309; finalDepth = 1692.815018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.815018 # Seafloor depth: -1742.815018 # 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 19 # Segment length 81.866948 meters # Minimum depth: 1741.032309 meters looking forward 0.000000 meters along route # Maximum depth: 1741.032309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.032309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694324; longitude = -122.065199; captureRadius = 10; duration = 163; initialDepth = 1684.280505; finalDepth = 1691.032309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.032309 # Seafloor depth: -1741.032309 # 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 19 # Segment length 81.867118 meters # Minimum depth: 1734.280505 meters looking forward 0.000000 meters along route # Maximum depth: 1734.280505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.280505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694169; longitude = -122.064303; captureRadius = 10; duration = 163; initialDepth = 1678.735857; finalDepth = 1684.280505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.280505 # Seafloor depth: -1734.280505 # 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 19 # Segment length 81.867290 meters # Minimum depth: 1728.735857 meters looking forward 0.000000 meters along route # Maximum depth: 1728.735857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.735857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694014; longitude = -122.063407; captureRadius = 10; duration = 163; initialDepth = 1671.788514; finalDepth = 1678.735857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1678.735857 # Seafloor depth: -1728.735857 # 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 19 # Segment length 81.867459 meters # Minimum depth: 1721.788514 meters looking forward 0.000000 meters along route # Maximum depth: 1721.788514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.788514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693859; longitude = -122.062511; captureRadius = 10; duration = 163; initialDepth = 1659.435382; finalDepth = 1671.788514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671.788514 # Seafloor depth: -1721.788514 # 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 19 # Segment length 85.017867 meters # Minimum depth: 1709.435382 meters looking forward 0.000000 meters along route # Maximum depth: 1709.435382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.435382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693704; longitude = -122.061615; captureRadius = 10; duration = 170; initialDepth = 1647.263315; finalDepth = 1659.435382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1659.435382 # Seafloor depth: -1709.435382 # 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 19 # Segment length 78.717564 meters # Minimum depth: 1697.263315 meters looking forward 0.000000 meters along route # Maximum depth: 1697.263315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.263315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693543; longitude = -122.060685; captureRadius = 10; duration = 157; initialDepth = 1629.973506; finalDepth = 1647.263315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1647.263315 # Seafloor depth: -1697.263315 # 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 19 # Segment length 80.505658 meters # Minimum depth: 1679.973506 meters looking forward 0.000000 meters along route # Maximum depth: 1679.973506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.973506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693394; longitude = -122.059823; captureRadius = 10; duration = 161; initialDepth = 1611.727783; finalDepth = 1629.973506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1629.973506 # Seafloor depth: -1679.973506 # 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 to get to end of line 18 # Segment length 71.370054 meters # Minimum depth: 1661.727783 meters looking forward 0.000000 meters along route # Maximum depth: 1661.727783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.727783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058942; captureRadius = 10; duration = 142; # abortOnTimeout = True; initialDepth = 1620.624632; finalDepth = 1611.727783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1611.727783 # Seafloor depth: -1661.727783 # 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 18 # Segment length 80.043558 meters # Minimum depth: 1670.624632 meters looking forward 0.000000 meters along route # Maximum depth: 1670.624632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.624632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058143; captureRadius = 10; duration = 160; initialDepth = 1625.962101; finalDepth = 1620.624632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1620.624632 # Seafloor depth: -1670.624632 # 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 18 # Segment length 80.043572 meters # Minimum depth: 1675.962101 meters looking forward 0.000000 meters along route # Maximum depth: 1675.962101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.962101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.057247; captureRadius = 10; duration = 160; initialDepth = 1632.046896; finalDepth = 1625.962101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1625.962101 # Seafloor depth: -1675.962101 # 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 18 # Segment length 80.043584 meters # Minimum depth: 1682.046896 meters looking forward 0.000000 meters along route # Maximum depth: 1682.046896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.046896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.056351; captureRadius = 10; duration = 160; initialDepth = 1627.811168; finalDepth = 1632.046896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1632.046896 # Seafloor depth: -1682.046896 # 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 18 # Segment length 80.043598 meters # Minimum depth: 1677.811168 meters looking forward 0.000000 meters along route # Maximum depth: 1677.811168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.811168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.055455; captureRadius = 10; duration = 160; initialDepth = 1627.544299; finalDepth = 1627.811168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1627.811168 # Seafloor depth: -1677.811168 # 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 18 # Segment length 80.043611 meters # Minimum depth: 1677.544299 meters looking forward 0.000000 meters along route # Maximum depth: 1677.544299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.544299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.054559; captureRadius = 10; duration = 160; initialDepth = 1626.642903; finalDepth = 1627.544299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1627.544299 # Seafloor depth: -1677.544299 # 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 18 # Segment length 80.043625 meters # Minimum depth: 1676.642903 meters looking forward 0.000000 meters along route # Maximum depth: 1676.642903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.642903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.053663; captureRadius = 10; duration = 160; initialDepth = 1624.974753; finalDepth = 1626.642903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1626.642903 # Seafloor depth: -1676.642903 # 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 18 # Segment length 80.043638 meters # Minimum depth: 1674.974753 meters looking forward 0.000000 meters along route # Maximum depth: 1674.974753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.974753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.052767; captureRadius = 10; duration = 160; initialDepth = 1622.672113; finalDepth = 1624.974753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1624.974753 # Seafloor depth: -1674.974753 # 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 18 # Segment length 80.043651 meters # Minimum depth: 1672.672113 meters looking forward 0.000000 meters along route # Maximum depth: 1672.672113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.672113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.051872; captureRadius = 10; duration = 160; initialDepth = 1617.772084; finalDepth = 1622.672113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1622.672113 # Seafloor depth: -1672.672113 # 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 18 # Segment length 80.043665 meters # Minimum depth: 1667.772084 meters looking forward 0.000000 meters along route # Maximum depth: 1667.772084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.772084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050976; captureRadius = 10; duration = 160; initialDepth = 1616.084503; finalDepth = 1617.772084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1617.772084 # Seafloor depth: -1667.772084 # 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 18 # Segment length 80.043678 meters # Minimum depth: 1666.084503 meters looking forward 0.000000 meters along route # Maximum depth: 1666.084503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.084503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050080; captureRadius = 10; duration = 160; initialDepth = 1616.845434; finalDepth = 1616.084503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1616.084503 # Seafloor depth: -1666.084503 # 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 18 # Segment length 80.043691 meters # Minimum depth: 1666.845434 meters looking forward 0.000000 meters along route # Maximum depth: 1666.845434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.845434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.049184; captureRadius = 10; duration = 160; initialDepth = 1612.900981; finalDepth = 1616.845434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1616.845434 # Seafloor depth: -1666.845434 # 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 18 # Segment length 80.043705 meters # Minimum depth: 1662.900981 meters looking forward 0.000000 meters along route # Maximum depth: 1662.900981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.900981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.048288; captureRadius = 10; duration = 160; initialDepth = 1606.233528; finalDepth = 1612.900981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1612.900981 # Seafloor depth: -1662.900981 # 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 18 # Segment length 80.043719 meters # Minimum depth: 1656.233528 meters looking forward 0.000000 meters along route # Maximum depth: 1656.233528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.233528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.047392; captureRadius = 10; duration = 160; initialDepth = 1599.699549; finalDepth = 1606.233528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1606.233528 # Seafloor depth: -1656.233528 # 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 18 # Segment length 80.043732 meters # Minimum depth: 1649.699549 meters looking forward 0.000000 meters along route # Maximum depth: 1649.699549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.699549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.046496; captureRadius = 10; duration = 160; initialDepth = 1592.323061; finalDepth = 1599.699549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1599.699549 # Seafloor depth: -1649.699549 # 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 18 # Segment length 80.043745 meters # Minimum depth: 1642.323061 meters looking forward 0.000000 meters along route # Maximum depth: 1642.323061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.323061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.045600; captureRadius = 10; duration = 160; initialDepth = 1585.332645; finalDepth = 1592.323061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1592.323061 # Seafloor depth: -1642.323061 # 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 18 # Segment length 80.227369 meters # Minimum depth: 1635.332645 meters looking forward 0.000000 meters along route # Maximum depth: 1635.332645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.332645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.044704; captureRadius = 10; duration = 160; initialDepth = 1574.740570; finalDepth = 1585.332645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1585.332645 # Seafloor depth: -1635.332645 # 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 to get to end of line 17 # Segment length 94.592974 meters # Minimum depth: 1624.740570 meters looking forward 0.000000 meters along route # Maximum depth: 1624.740570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.740570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.043806; captureRadius = 10; duration = 189; # abortOnTimeout = True; initialDepth = 1573.501706; finalDepth = 1574.740570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1574.74057 # Seafloor depth: -1624.740570 # 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 17 # Segment length 80.779835 meters # Minimum depth: 1623.501706 meters looking forward 0.000000 meters along route # Maximum depth: 1623.501706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.501706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693453; longitude = -122.042780; captureRadius = 10; duration = 161; initialDepth = 1565.288029; finalDepth = 1573.501706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1573.501706 # Seafloor depth: -1623.501706 # 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 17 # Segment length 82.617296 meters # Minimum depth: 1615.288029 meters looking forward 0.000000 meters along route # Maximum depth: 1615.288029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.288029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693634; longitude = -122.041904; captureRadius = 10; duration = 165; initialDepth = 1565.035119; finalDepth = 1565.288029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1565.288029 # Seafloor depth: -1615.288029 # 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 17 # Segment length 82.617126 meters # Minimum depth: 1615.035119 meters looking forward 0.000000 meters along route # Maximum depth: 1615.035119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.035119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693818; longitude = -122.041008; captureRadius = 10; duration = 165; initialDepth = 1568.181032; finalDepth = 1565.035119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1565.035119 # Seafloor depth: -1615.035119 # 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 17 # Segment length 82.616954 meters # Minimum depth: 1618.181032 meters looking forward 0.000000 meters along route # Maximum depth: 1618.181032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.181032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694002; longitude = -122.040112; captureRadius = 10; duration = 165; initialDepth = 1573.328033; finalDepth = 1568.181032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1568.181032 # Seafloor depth: -1618.181032 # 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 17 # Segment length 75.127880 meters # Minimum depth: 1623.328033 meters looking forward 0.000000 meters along route # Maximum depth: 1623.328033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.328033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694187; longitude = -122.039216; captureRadius = 10; duration = 150; initialDepth = 1566.177464; finalDepth = 1573.328033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1573.328033 # Seafloor depth: -1623.328033 # 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 17 # Segment length 80.751327 meters # Minimum depth: 1616.177464 meters looking forward 0.000000 meters along route # Maximum depth: 1616.177464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.177464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694355; longitude = -122.038402; captureRadius = 10; duration = 161; initialDepth = 1563.724093; finalDepth = 1566.177464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1566.177464 # Seafloor depth: -1616.177464 # 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 17 # Segment length 81.643583 meters # Minimum depth: 1613.724093 meters looking forward 0.000000 meters along route # Maximum depth: 1613.724093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.724093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694535; longitude = -122.037526; captureRadius = 10; duration = 163; initialDepth = 1562.079064; finalDepth = 1563.724093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1563.724093 # Seafloor depth: -1613.724093 # 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 17 # Segment length 82.616292 meters # Minimum depth: 1612.079064 meters looking forward 0.000000 meters along route # Maximum depth: 1612.079064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.079064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694717; longitude = -122.036641; captureRadius = 10; duration = 165; initialDepth = 1555.565415; finalDepth = 1562.079064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1562.079064 # Seafloor depth: -1612.079064 # 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 17 # Segment length 82.616120 meters # Minimum depth: 1605.565415 meters looking forward 0.000000 meters along route # Maximum depth: 1605.565415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.565415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694902; longitude = -122.035745; captureRadius = 10; duration = 165; initialDepth = 1555.030697; finalDepth = 1555.565415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1555.565415 # Seafloor depth: -1605.565415 # 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 17 # Segment length 76.127682 meters # Minimum depth: 1605.030697 meters looking forward 0.000000 meters along route # Maximum depth: 1605.030697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.030697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695086; longitude = -122.034849; captureRadius = 10; duration = 152; initialDepth = 1551.206972; finalDepth = 1555.030697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1555.030697 # Seafloor depth: -1605.030697 # 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 17 # Segment length 80.750510 meters # Minimum depth: 1601.206972 meters looking forward 0.000000 meters along route # Maximum depth: 1601.206972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.206972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695256; longitude = -122.034023; captureRadius = 10; duration = 161; initialDepth = 1545.294091; finalDepth = 1551.206972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1551.206972 # Seafloor depth: -1601.206972 # 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 17 # Segment length 80.750347 meters # Minimum depth: 1595.294091 meters looking forward 0.000000 meters along route # Maximum depth: 1595.294091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.294091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695436; longitude = -122.033147; captureRadius = 10; duration = 161; initialDepth = 1541.047859; finalDepth = 1545.294091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1545.294091 # Seafloor depth: -1595.294091 # 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 17 # Segment length 82.507311 meters # Minimum depth: 1591.047859 meters looking forward 0.000000 meters along route # Maximum depth: 1591.047859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.047859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695617; longitude = -122.032272; captureRadius = 10; duration = 165; initialDepth = 1537.334553; finalDepth = 1541.047859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1541.047859 # Seafloor depth: -1591.047859 # 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 17 # Segment length 82.615286 meters # Minimum depth: 1587.334553 meters looking forward 0.000000 meters along route # Maximum depth: 1587.334553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.334553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695801; longitude = -122.031377; captureRadius = 10; duration = 165; initialDepth = 1531.987311; finalDepth = 1537.334553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1537.334553 # Seafloor depth: -1587.334553 # 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 17 # Segment length 82.615115 meters # Minimum depth: 1581.987311 meters looking forward 0.000000 meters along route # Maximum depth: 1581.987311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.987311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695985; longitude = -122.030481; captureRadius = 10; duration = 165; initialDepth = 1526.810056; finalDepth = 1531.987311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1531.987311 # Seafloor depth: -1581.987311 # 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 17 # Segment length 84.368699 meters # Minimum depth: 1576.810056 meters looking forward 0.000000 meters along route # Maximum depth: 1576.810056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.810056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696170; longitude = -122.029585; captureRadius = 10; duration = 168; initialDepth = 1524.747833; finalDepth = 1526.810056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1526.810056 # Seafloor depth: -1576.810056 # 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 to get to end of line 16 # Segment length 128.401339 meters # Minimum depth: 1574.747833 meters looking forward 0.000000 meters along route # Maximum depth: 1574.747833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.747833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696358; longitude = -122.028670; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 1519.508652; finalDepth = 1524.747833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1524.747833 # Seafloor depth: -1574.747833 # 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 16 # Segment length 75.814768 meters # Minimum depth: 1569.508652 meters looking forward 0.000000 meters along route # Maximum depth: 1569.508652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.508652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696969; longitude = -122.027449; captureRadius = 10; duration = 151; initialDepth = 1511.380294; finalDepth = 1519.508652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1519.508652 # Seafloor depth: -1569.508652 # 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 16 # Segment length 76.446763 meters # Minimum depth: 1561.380294 meters looking forward 0.000000 meters along route # Maximum depth: 1561.380294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.380294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697329; longitude = -122.026728; captureRadius = 10; duration = 152; initialDepth = 1503.282235; finalDepth = 1511.380294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1511.380294 # Seafloor depth: -1561.380294 # 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 16 # Segment length 75.182042 meters # Minimum depth: 1553.282235 meters looking forward 0.000000 meters along route # Maximum depth: 1553.282235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.282235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697693; longitude = -122.026001; captureRadius = 10; duration = 150; initialDepth = 1512.160711; finalDepth = 1503.282235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1503.282235 # Seafloor depth: -1553.282235 # 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 16 # Segment length 75.814036 meters # Minimum depth: 1562.160711 meters looking forward 0.000000 meters along route # Maximum depth: 1562.160711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.160711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698050; longitude = -122.025286; captureRadius = 10; duration = 151; initialDepth = 1506.776240; finalDepth = 1512.160711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1512.160711 # Seafloor depth: -1562.160711 # 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 16 # Segment length 75.813793 meters # Minimum depth: 1556.776240 meters looking forward 0.000000 meters along route # Maximum depth: 1556.776240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.776240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698411; longitude = -122.024565; captureRadius = 10; duration = 151; initialDepth = 1504.655887; finalDepth = 1506.776240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1506.77624 # Seafloor depth: -1556.776240 # 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 16 # Segment length 79.404569 meters # Minimum depth: 1554.655887 meters looking forward 0.000000 meters along route # Maximum depth: 1554.655887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.655887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698771; longitude = -122.023844; captureRadius = 10; duration = 158; initialDepth = 1494.670547; finalDepth = 1504.655887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1504.655887 # Seafloor depth: -1554.655887 # 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 16 # Segment length 82.441670 meters # Minimum depth: 1544.670547 meters looking forward 0.000000 meters along route # Maximum depth: 1544.670547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.670547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699149; longitude = -122.023089; captureRadius = 10; duration = 164; initialDepth = 1490.562528; finalDepth = 1494.670547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1494.670547 # Seafloor depth: -1544.670547 # 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 16 # Segment length 79.652096 meters # Minimum depth: 1540.562528 meters looking forward 0.000000 meters along route # Maximum depth: 1540.562528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.562528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.022305; captureRadius = 10; duration = 159; initialDepth = 1493.307800; finalDepth = 1490.562528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1490.562528 # Seafloor depth: -1540.562528 # 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 to get to end of line 15 # Segment length 126.215319 meters # Minimum depth: 1543.307800 meters looking forward 0.000000 meters along route # Maximum depth: 1543.307800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.307800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699920; longitude = -122.021548; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 1481.731004; finalDepth = 1493.307800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1493.3078 # Seafloor depth: -1543.307800 # 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 15 # Segment length 83.350820 meters # Minimum depth: 1531.731004 meters looking forward 0.000000 meters along route # Maximum depth: 1531.731004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.731004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700755; longitude = -122.020588; captureRadius = 10; duration = 166; initialDepth = 1474.514602; finalDepth = 1481.731004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1481.731004 # Seafloor depth: -1531.731004 # 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 15 # Segment length 80.241047 meters # Minimum depth: 1524.514602 meters looking forward 0.000000 meters along route # Maximum depth: 1524.514602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.514602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701306; longitude = -122.019954; captureRadius = 10; duration = 160; initialDepth = 1468.063470; finalDepth = 1474.514602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1474.514602 # Seafloor depth: -1524.514602 # 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 15 # Segment length 81.795556 meters # Minimum depth: 1518.063470 meters looking forward 0.000000 meters along route # Maximum depth: 1518.063470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.063470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701836; longitude = -122.019343; captureRadius = 10; duration = 163; initialDepth = 1464.649191; finalDepth = 1468.063470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1468.06347 # Seafloor depth: -1518.063470 # 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 15 # Segment length 77.120834 meters # Minimum depth: 1514.649191 meters looking forward 0.000000 meters along route # Maximum depth: 1514.649191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.649191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702377; longitude = -122.018721; captureRadius = 10; duration = 154; initialDepth = 1463.473145; finalDepth = 1464.649191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1464.649191 # Seafloor depth: -1514.649191 # 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 to get to end of line 14 # Segment length 125.968315 meters # Minimum depth: 1513.473145 meters looking forward 0.000000 meters along route # Maximum depth: 1513.473145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.473145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.018134; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 1456.927141; finalDepth = 1463.473145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1463.473145 # Seafloor depth: -1513.473145 # 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 14 # Segment length 80.008298 meters # Minimum depth: 1506.927141 meters looking forward 0.000000 meters along route # Maximum depth: 1506.927141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.927141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703819; longitude = -122.017329; captureRadius = 10; duration = 160; initialDepth = 1446.923929; finalDepth = 1456.927141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1456.927141 # Seafloor depth: -1506.927141 # 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 14 # Segment length 78.320867 meters # Minimum depth: 1496.923929 meters looking forward 0.000000 meters along route # Maximum depth: 1496.923929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.923929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704411; longitude = -122.016818; captureRadius = 10; duration = 156; initialDepth = 1430.488184; finalDepth = 1446.923929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1446.923929 # Seafloor depth: -1496.923929 # 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 14 # Segment length 79.410715 meters # Minimum depth: 1480.488184 meters looking forward 0.000000 meters along route # Maximum depth: 1480.488184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.488184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704991; longitude = -122.016317; captureRadius = 10; duration = 158; initialDepth = 1429.776670; finalDepth = 1430.488184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1430.488184 # Seafloor depth: -1480.488184 # 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 14 # Segment length 77.437156 meters # Minimum depth: 1479.776670 meters looking forward 0.000000 meters along route # Maximum depth: 1479.776670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.776670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705579; longitude = -122.015810; captureRadius = 10; duration = 154; initialDepth = 1424.202942; finalDepth = 1429.776670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1429.77667 # Seafloor depth: -1479.776670 # 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 to get to end of line 13 # Segment length 130.048686 meters # Minimum depth: 1474.202942 meters looking forward 0.000000 meters along route # Maximum depth: 1474.202942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.202942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706152; longitude = -122.015315; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 1418.076704; finalDepth = 1424.202942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1424.202942 # Seafloor depth: -1474.202942 # 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 13 # Segment length 75.100828 meters # Minimum depth: 1468.076704 meters looking forward 0.000000 meters along route # Maximum depth: 1468.076704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.076704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707245; longitude = -122.014788; captureRadius = 10; duration = 150; initialDepth = 1408.601496; finalDepth = 1418.076704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1418.076704 # Seafloor depth: -1468.076704 # 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 13 # Segment length 75.100759 meters # Minimum depth: 1458.601496 meters looking forward 0.000000 meters along route # Maximum depth: 1458.601496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1408.601496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707876; longitude = -122.014483; captureRadius = 10; duration = 150; initialDepth = 1402.168832; finalDepth = 1408.601496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1408.601496 # Seafloor depth: -1458.601496 # 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 13 # Segment length 75.100689 meters # Minimum depth: 1452.168832 meters looking forward 0.000000 meters along route # Maximum depth: 1452.168832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.168832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708507; longitude = -122.014178; captureRadius = 10; duration = 150; initialDepth = 1395.902064; finalDepth = 1402.168832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1402.168832 # Seafloor depth: -1452.168832 # 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 13 # Segment length 75.100621 meters # Minimum depth: 1445.902064 meters looking forward 0.000000 meters along route # Maximum depth: 1445.902064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.902064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709138; longitude = -122.013874; captureRadius = 10; duration = 150; initialDepth = 1388.579946; finalDepth = 1395.902064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1395.902064 # Seafloor depth: -1445.902064 # 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 13 # Segment length 81.700222 meters # Minimum depth: 1438.579946 meters looking forward 0.000000 meters along route # Maximum depth: 1438.579946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.579946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709769; longitude = -122.013569; captureRadius = 10; duration = 163; initialDepth = 1382.753693; finalDepth = 1388.579946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.579946 # Seafloor depth: -1438.579946 # 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 to get to end of line 12 # Segment length 128.233649 meters # Minimum depth: 1432.753693 meters looking forward 0.000000 meters along route # Maximum depth: 1432.753693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.753693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710455; longitude = -122.013238; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 1396.395004; finalDepth = 1382.753693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.753693 # Seafloor depth: -1432.753693 # 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 12 # Segment length 82.832506 meters # Minimum depth: 1446.395004 meters looking forward 0.000000 meters along route # Maximum depth: 1446.395004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.395004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711571; longitude = -122.012866; captureRadius = 10; duration = 165; initialDepth = 1406.957692; finalDepth = 1396.395004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1396.395004 # Seafloor depth: -1446.395004 # 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 12 # Segment length 82.832467 meters # Minimum depth: 1456.957692 meters looking forward 0.000000 meters along route # Maximum depth: 1456.957692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.957692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712292; longitude = -122.012625; captureRadius = 10; duration = 165; initialDepth = 1410.064484; finalDepth = 1406.957692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1406.957692 # Seafloor depth: -1456.957692 # 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 12 # Segment length 82.832428 meters # Minimum depth: 1460.064484 meters looking forward 0.000000 meters along route # Maximum depth: 1460.064484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.064484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713014; longitude = -122.012385; captureRadius = 10; duration = 165; initialDepth = 1406.879527; finalDepth = 1410.064484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1410.064484 # Seafloor depth: -1460.064484 # 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 12 # Segment length 83.537342 meters # Minimum depth: 1456.879527 meters looking forward 0.000000 meters along route # Maximum depth: 1456.879527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.879527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713735; longitude = -122.012144; captureRadius = 10; duration = 167; initialDepth = 1401.747589; finalDepth = 1406.879527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1406.879527 # Seafloor depth: -1456.879527 # 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 to get to end of line 11 # Segment length 114.849537 meters # Minimum depth: 1451.747589 meters looking forward 0.000000 meters along route # Maximum depth: 1451.747589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.747589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714462; longitude = -122.011902; captureRadius = 10; duration = 229; # abortOnTimeout = True; initialDepth = 1390.692886; finalDepth = 1401.747589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1401.747589 # Seafloor depth: -1451.747589 # 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 11 # Segment length 84.390597 meters # Minimum depth: 1440.692886 meters looking forward 0.000000 meters along route # Maximum depth: 1440.692886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.692886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715447; longitude = -122.011508; captureRadius = 10; duration = 168; initialDepth = 1382.620887; finalDepth = 1390.692886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1390.692886 # Seafloor depth: -1440.692886 # 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 11 # Segment length 83.703498 meters # Minimum depth: 1432.620887 meters looking forward 0.000000 meters along route # Maximum depth: 1432.620887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.620887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716171; longitude = -122.011218; captureRadius = 10; duration = 167; initialDepth = 1380.707952; finalDepth = 1382.620887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.620887 # Seafloor depth: -1432.620887 # 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 11 # Segment length 79.438168 meters # Minimum depth: 1430.707952 meters looking forward 0.000000 meters along route # Maximum depth: 1430.707952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.707952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716890; longitude = -122.010931; captureRadius = 10; duration = 158; initialDepth = 1375.368276; finalDepth = 1380.707952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1380.707952 # Seafloor depth: -1430.707952 # 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 11 # Segment length 78.149828 meters # Minimum depth: 1425.368276 meters looking forward 0.000000 meters along route # Maximum depth: 1425.368276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.368276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717571; longitude = -122.010658; captureRadius = 10; duration = 156; initialDepth = 1371.853915; finalDepth = 1375.368276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1375.368276 # Seafloor depth: -1425.368276 # 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 11 # Segment length 78.350310 meters # Minimum depth: 1421.853915 meters looking forward 0.000000 meters along route # Maximum depth: 1421.853915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.853915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718242; longitude = -122.010390; captureRadius = 10; duration = 156; initialDepth = 1365.147705; finalDepth = 1371.853915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1371.853915 # Seafloor depth: -1421.853915 # 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 to get to end of line 10 # Segment length 136.635479 meters # Minimum depth: 1415.147705 meters looking forward 0.000000 meters along route # Maximum depth: 1415.147705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.147705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718914; longitude = -122.010121; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 1359.368882; finalDepth = 1365.147705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1365.147705 # Seafloor depth: -1415.147705 # 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 10 # Segment length 80.716706 meters # Minimum depth: 1409.368882 meters looking forward 0.000000 meters along route # Maximum depth: 1409.368882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.368882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720135; longitude = -122.009918; captureRadius = 10; duration = 161; initialDepth = 1349.920623; finalDepth = 1359.368882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1359.368882 # Seafloor depth: -1409.368882 # 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 10 # Segment length 81.618415 meters # Minimum depth: 1399.920623 meters looking forward 0.000000 meters along route # Maximum depth: 1399.920623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.920623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720856; longitude = -122.009797; captureRadius = 10; duration = 163; initialDepth = 1338.250519; finalDepth = 1349.920623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1349.920623 # Seafloor depth: -1399.920623 # 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 to get to end of line 9 # Segment length 70.872584 meters # Minimum depth: 1388.250519 meters looking forward 0.000000 meters along route # Maximum depth: 1388.250519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.250519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721585; longitude = -122.009676; captureRadius = 10; duration = 141; # abortOnTimeout = True; initialDepth = 1311.249630; finalDepth = 1338.250519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1338.250519 # Seafloor depth: -1388.250519 # 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 9 # Segment length 79.630889 meters # Minimum depth: 1361.249630 meters looking forward 0.000000 meters along route # Maximum depth: 1361.249630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.249630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721889; longitude = -122.008978; captureRadius = 10; duration = 159; initialDepth = 1293.973673; finalDepth = 1311.249630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1311.24963 # Seafloor depth: -1361.249630 # 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 9 # Segment length 79.630629 meters # Minimum depth: 1343.973673 meters looking forward 0.000000 meters along route # Maximum depth: 1343.973673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.973673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722231; longitude = -122.008194; captureRadius = 10; duration = 159; initialDepth = 1264.099120; finalDepth = 1293.973673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1293.973673 # Seafloor depth: -1343.973673 # 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 9 # Segment length 75.838454 meters # Minimum depth: 1314.099120 meters looking forward 0.000000 meters along route # Maximum depth: 1314.099120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.099120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722573; longitude = -122.007410; captureRadius = 10; duration = 151; initialDepth = 1228.769043; finalDepth = 1264.099120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1264.09912 # Seafloor depth: -1314.099120 # 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 to get to end of line 8 # Segment length 123.461416 meters # Minimum depth: 1278.769043 meters looking forward 0.000000 meters along route # Maximum depth: 1278.769043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.769043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722899; longitude = -122.006664; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 1209.453597; finalDepth = 1228.769043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1228.769043 # Seafloor depth: -1278.769043 # 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 8 # Segment length 80.083092 meters # Minimum depth: 1259.453597 meters looking forward 0.000000 meters along route # Maximum depth: 1259.453597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.453597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724011; longitude = -122.006601; captureRadius = 10; duration = 160; initialDepth = 1209.216359; finalDepth = 1209.453597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1209.453597 # Seafloor depth: -1259.453597 # 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 8 # Segment length 80.083100 meters # Minimum depth: 1259.216359 meters looking forward 0.000000 meters along route # Maximum depth: 1259.216359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.216359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724732; longitude = -122.006560; captureRadius = 10; duration = 160; initialDepth = 1226.259333; finalDepth = 1209.216359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1209.216359 # Seafloor depth: -1259.216359 # 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 8 # Segment length 80.083109 meters # Minimum depth: 1276.259333 meters looking forward 0.000000 meters along route # Maximum depth: 1276.259333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.259333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725453; longitude = -122.006520; captureRadius = 10; duration = 160; initialDepth = 1207.082409; finalDepth = 1226.259333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1226.259333 # Seafloor depth: -1276.259333 # 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 8 # Segment length 76.746321 meters # Minimum depth: 1257.082409 meters looking forward 0.000000 meters along route # Maximum depth: 1257.082409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.082409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726174; longitude = -122.006479; captureRadius = 10; duration = 153; initialDepth = 1213.478841; finalDepth = 1207.082409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1207.082409 # Seafloor depth: -1257.082409 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 92.343400 meters # Minimum depth: 1263.478841 meters looking forward 0.000000 meters along route # Maximum depth: 1263.478841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.478841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726865; longitude = -122.006440; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 1219.405368; finalDepth = 1213.478841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1213.478841 # Seafloor depth: -1263.478841 # 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 7 # Segment length 83.108744 meters # Minimum depth: 1269.405368 meters looking forward 0.000000 meters along route # Maximum depth: 1269.405368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.405368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727441; longitude = -122.007186; captureRadius = 10; duration = 166; initialDepth = 1191.846785; finalDepth = 1219.405368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1219.405368 # Seafloor depth: -1269.405368 # 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 7 # Segment length 75.078657 meters # Minimum depth: 1241.846785 meters looking forward 0.000000 meters along route # Maximum depth: 1241.846785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.846785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727959; longitude = -122.007858; captureRadius = 10; duration = 150; initialDepth = 1168.750913; finalDepth = 1191.846785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1191.846785 # Seafloor depth: -1241.846785 # 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 7 # Segment length 81.903711 meters # Minimum depth: 1218.750913 meters looking forward 0.000000 meters along route # Maximum depth: 1218.750913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.750913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728428; longitude = -122.008465; captureRadius = 10; duration = 163; initialDepth = 1138.199463; finalDepth = 1168.750913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1168.750913 # Seafloor depth: -1218.750913 # 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 to get to end of line 6 # Segment length 117.429825 meters # Minimum depth: 1188.199463 meters looking forward 0.000000 meters along route # Maximum depth: 1188.199463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.199463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728938; longitude = -122.009128; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 1133.673747; finalDepth = 1138.199463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1138.199463 # Seafloor depth: -1188.199463 # 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 to get to end of line 5 # Segment length 97.111816 meters # Minimum depth: 1183.673747 meters looking forward 0.000000 meters along route # Maximum depth: 1183.673747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.673747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729810; longitude = -122.008381; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 1124.707864; finalDepth = 1133.673747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1133.673747 # Seafloor depth: -1183.673747 # 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 5 # Segment length 80.368494 meters # Minimum depth: 1174.707864 meters looking forward 0.000000 meters along route # Maximum depth: 1174.707864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.707864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729727; longitude = -122.007298; captureRadius = 10; duration = 160; initialDepth = 1114.724268; finalDepth = 1124.707864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1124.707864 # Seafloor depth: -1174.707864 # 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 5 # Segment length 80.368579 meters # Minimum depth: 1164.724268 meters looking forward 0.000000 meters along route # Maximum depth: 1164.724268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.724268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729658; longitude = -122.006402; captureRadius = 10; duration = 160; initialDepth = 1113.699883; finalDepth = 1114.724268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1114.724268 # Seafloor depth: -1164.724268 # 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 5 # Segment length 80.368664 meters # Minimum depth: 1163.699883 meters looking forward 0.000000 meters along route # Maximum depth: 1163.699883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.699883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729589; longitude = -122.005506; captureRadius = 10; duration = 160; initialDepth = 1083.680525; finalDepth = 1113.699883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1113.699883 # Seafloor depth: -1163.699883 # 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 5 # Segment length 83.717448 meters # Minimum depth: 1133.680525 meters looking forward 0.000000 meters along route # Maximum depth: 1133.680525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.680525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729521; longitude = -122.004611; captureRadius = 10; duration = 167; initialDepth = 1029.569824; finalDepth = 1083.680525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1083.680525 # Seafloor depth: -1133.680525 # 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 to get to end of line 4 # Segment length 59.736606 meters # Minimum depth: 1079.569824 meters looking forward 0.000000 meters along route # Maximum depth: 1079.569824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.569824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729449; longitude = -122.003677; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 994.014052; finalDepth = 1029.569824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1029.569824 # Seafloor depth: -1079.569824 # 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 4 # Segment length 77.306382 meters # Minimum depth: 1044.014052 meters looking forward 0.000000 meters along route # Maximum depth: 1044.014052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.014052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729279; longitude = -122.003043; captureRadius = 10; duration = 154; initialDepth = 967.209351; finalDepth = 994.014052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.014052 # Seafloor depth: -1044.014052 # 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 4 # Segment length 80.820535 meters # Minimum depth: 1017.209351 meters looking forward 0.000000 meters along route # Maximum depth: 1017.209351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.209351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729059; longitude = -122.002221; captureRadius = 10; duration = 161; initialDepth = 908.041918; finalDepth = 967.209351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.209351 # Seafloor depth: -1017.209351 # 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 4 # Segment length 84.334716 meters # Minimum depth: 958.041918 meters looking forward 0.000000 meters along route # Maximum depth: 958.041918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.041918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728828; longitude = -122.001363; captureRadius = 10; duration = 168; initialDepth = 869.952623; finalDepth = 908.041918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 908.041918 # Seafloor depth: -958.041918 # 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 4 # Segment length 77.307045 meters # Minimum depth: 919.952623 meters looking forward 0.000000 meters along route # Maximum depth: 919.952623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.952623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728588; longitude = -122.000467; captureRadius = 10; duration = 154; initialDepth = 793.143555; finalDepth = 869.952623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 869.952623 # Seafloor depth: -919.952623 # 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 to get to end of line 3 # Segment length 56.850502 meters # Minimum depth: 843.143555 meters looking forward 0.000000 meters along route # Maximum depth: 843.143555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.143555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728368; longitude = -121.999646; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 724.858336; finalDepth = 793.143555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 793.143555 # Seafloor depth: -843.143555 # 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 3 # Segment length 80.259495 meters # Minimum depth: 774.858336 meters looking forward 0.000000 meters along route # Maximum depth: 774.858336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.858336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728408; longitude = -121.999011; captureRadius = 10; duration = 160; initialDepth = 689.867796; finalDepth = 724.858336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.858336 # Seafloor depth: -774.858336 # 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 3 # Segment length 80.259450 meters # Minimum depth: 739.867796 meters looking forward 0.000000 meters along route # Maximum depth: 739.867796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.867796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728465; longitude = -121.998115; captureRadius = 10; duration = 160; initialDepth = 672.019565; finalDepth = 689.867796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.867796 # Seafloor depth: -739.867796 # 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 3 # Segment length 80.259405 meters # Minimum depth: 722.019565 meters looking forward 0.000000 meters along route # Maximum depth: 722.019565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.019565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728523; longitude = -121.997219; captureRadius = 10; duration = 160; initialDepth = 650.306417; finalDepth = 672.019565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 672.019565 # Seafloor depth: -722.019565 # 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 3 # Segment length 80.259359 meters # Minimum depth: 700.306417 meters looking forward 0.000000 meters along route # Maximum depth: 700.306417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.306417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728580; longitude = -121.996323; captureRadius = 10; duration = 160; initialDepth = 631.507649; finalDepth = 650.306417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 650.306417 # Seafloor depth: -700.306417 # 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 3 # Segment length 80.259315 meters # Minimum depth: 681.507649 meters looking forward 0.000000 meters along route # Maximum depth: 681.507649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.507649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728637; longitude = -121.995427; captureRadius = 10; duration = 160; initialDepth = 616.365911; finalDepth = 631.507649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 631.507649 # Seafloor depth: -681.507649 # 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 3 # Segment length 80.259270 meters # Minimum depth: 666.365911 meters looking forward 0.000000 meters along route # Maximum depth: 666.365911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.365911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728694; longitude = -121.994531; captureRadius = 10; duration = 160; initialDepth = 604.111122; finalDepth = 616.365911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 616.365911 # Seafloor depth: -666.365911 # 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 3 # Segment length 80.259225 meters # Minimum depth: 654.111122 meters looking forward 0.000000 meters along route # Maximum depth: 654.111122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.111122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728751; longitude = -121.993635; captureRadius = 10; duration = 160; initialDepth = 595.238776; finalDepth = 604.111122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 604.111122 # Seafloor depth: -654.111122 # 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 3 # Segment length 80.259179 meters # Minimum depth: 645.238776 meters looking forward 0.000000 meters along route # Maximum depth: 645.238776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.238776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728809; longitude = -121.992739; captureRadius = 10; duration = 160; initialDepth = 578.584877; finalDepth = 595.238776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 595.238776 # Seafloor depth: -645.238776 # 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 3 # Segment length 80.259135 meters # Minimum depth: 628.584877 meters looking forward 0.000000 meters along route # Maximum depth: 628.584877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.584877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728866; longitude = -121.991843; captureRadius = 10; duration = 160; initialDepth = 554.087744; finalDepth = 578.584877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 578.584877 # Seafloor depth: -628.584877 # 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 3 # Segment length 80.259090 meters # Minimum depth: 604.087744 meters looking forward 0.000000 meters along route # Maximum depth: 604.087744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.087744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728923; longitude = -121.990947; captureRadius = 10; duration = 160; initialDepth = 539.890298; finalDepth = 554.087744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 554.087744 # Seafloor depth: -604.087744 # 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 3 # Segment length 80.259045 meters # Minimum depth: 589.890298 meters looking forward 0.000000 meters along route # Maximum depth: 589.890298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.890298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728980; longitude = -121.990051; captureRadius = 10; duration = 160; initialDepth = 509.031766; finalDepth = 539.890298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 539.890298 # Seafloor depth: -589.890298 # 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 3 # Segment length 80.259000 meters # Minimum depth: 559.031766 meters looking forward 0.000000 meters along route # Maximum depth: 559.031766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.031766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729038; longitude = -121.989156; captureRadius = 10; duration = 160; initialDepth = 467.619460; finalDepth = 509.031766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 509.031766 # Seafloor depth: -559.031766 # 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 3 # Segment length 80.258955 meters # Minimum depth: 517.619460 meters looking forward 0.000000 meters along route # Maximum depth: 517.619460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.619460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729095; longitude = -121.988260; captureRadius = 10; duration = 160; initialDepth = 434.809155; finalDepth = 467.619460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 467.61946 # Seafloor depth: -517.619460 # 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 3 # Segment length 80.258911 meters # Minimum depth: 484.809155 meters looking forward 0.000000 meters along route # Maximum depth: 484.809155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.809155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729152; longitude = -121.987364; captureRadius = 10; duration = 160; initialDepth = 418.051388; finalDepth = 434.809155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 434.809155 # Seafloor depth: -484.809155 # 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 3 # Segment length 83.602983 meters # Minimum depth: 468.051388 meters looking forward 0.000000 meters along route # Maximum depth: 468.051388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.051388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729209; longitude = -121.986468; captureRadius = 10; duration = 167; initialDepth = 403.670085; finalDepth = 418.051388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 418.051388 # Seafloor depth: -468.051388 # 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 to get to end of line 2 # Segment length 57.347882 meters # Minimum depth: 453.670085 meters looking forward 0.000000 meters along route # Maximum depth: 453.670085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.670085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729269; longitude = -121.985534; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 390.620730; finalDepth = 403.670085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.670085 # Seafloor depth: -453.670085 # 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 2 # Segment length 80.961825 meters # Minimum depth: 440.620730 meters looking forward 0.000000 meters along route # Maximum depth: 440.620730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.620730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729190; longitude = -121.984900; captureRadius = 10; duration = 161; initialDepth = 373.179432; finalDepth = 390.620730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.62073 # Seafloor depth: -440.620730 # 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 2 # Segment length 80.961954 meters # Minimum depth: 423.179432 meters looking forward 0.000000 meters along route # Maximum depth: 423.179432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.179432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729078; longitude = -121.984004; captureRadius = 10; duration = 161; initialDepth = 357.145541; finalDepth = 373.179432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 373.179432 # Seafloor depth: -423.179432 # 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 2 # Segment length 80.962084 meters # Minimum depth: 407.145541 meters looking forward 0.000000 meters along route # Maximum depth: 407.145541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.145541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728966; longitude = -121.983108; captureRadius = 10; duration = 161; initialDepth = 338.810425; finalDepth = 357.145541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 357.145541 # Seafloor depth: -407.145541 # 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 2 # Segment length 80.962212 meters # Minimum depth: 388.810425 meters looking forward 0.000000 meters along route # Maximum depth: 388.810425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.810425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728855; longitude = -121.982212; captureRadius = 10; duration = 161; initialDepth = 321.119299; finalDepth = 338.810425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 338.810425 # Seafloor depth: -388.810425 # 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 2 # Segment length 80.962341 meters # Minimum depth: 371.119299 meters looking forward 0.000000 meters along route # Maximum depth: 371.119299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.119299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728743; longitude = -121.981316; captureRadius = 10; duration = 161; initialDepth = 304.958962; finalDepth = 321.119299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 321.119299 # Seafloor depth: -371.119299 # 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 2 # Segment length 82.189176 meters # Minimum depth: 354.958962 meters looking forward 0.000000 meters along route # Maximum depth: 354.958962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.958962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728631; longitude = -121.980420; captureRadius = 10; duration = 164; initialDepth = 285.844494; finalDepth = 304.958962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 304.958962 # Seafloor depth: -354.958962 # 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 2 # Segment length 79.735894 meters # Minimum depth: 335.844494 meters looking forward 0.000000 meters along route # Maximum depth: 335.844494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.844494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728518; longitude = -121.979511; captureRadius = 10; duration = 159; initialDepth = 264.987807; finalDepth = 285.844494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.844494 # Seafloor depth: -335.844494 # 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 2 # Segment length 80.962729 meters # Minimum depth: 314.987807 meters looking forward 0.000000 meters along route # Maximum depth: 314.987807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.987807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728408; longitude = -121.978628; captureRadius = 10; duration = 161; initialDepth = 246.162785; finalDepth = 264.987807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 264.987807 # Seafloor depth: -314.987807 # 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 2 # Segment length 80.962858 meters # Minimum depth: 296.162785 meters looking forward 0.000000 meters along route # Maximum depth: 296.162785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.162785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728296; longitude = -121.977732; captureRadius = 10; duration = 161; initialDepth = 226.070810; finalDepth = 246.162785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 246.162785 # Seafloor depth: -296.162785 # 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 2 # Segment length 84.949804 meters # Minimum depth: 276.070810 meters looking forward 0.000000 meters along route # Maximum depth: 276.070810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.070810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728184; longitude = -121.976836; captureRadius = 10; duration = 169; initialDepth = 206.439572; finalDepth = 226.070810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 226.07081 # Seafloor depth: -276.070810 # 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 2 # Segment length 76.976299 meters # Minimum depth: 256.439572 meters looking forward 0.000000 meters along route # Maximum depth: 256.439572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.439572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728067; longitude = -121.975896; captureRadius = 10; duration = 153; initialDepth = 186.819944; finalDepth = 206.439572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 206.439572 # Seafloor depth: -256.439572 # 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 2 # Segment length 80.963245 meters # Minimum depth: 236.819944 meters looking forward 0.000000 meters along route # Maximum depth: 236.819944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.819944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727961; longitude = -121.975044; captureRadius = 10; duration = 161; initialDepth = 165.791324; finalDepth = 186.819944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 186.819944 # Seafloor depth: -236.819944 # 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 2 # Segment length 80.963374 meters # Minimum depth: 215.791324 meters looking forward 0.000000 meters along route # Maximum depth: 215.791324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.791324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727849; longitude = -121.974148; captureRadius = 10; duration = 161; initialDepth = 145.270227; finalDepth = 165.791324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.791324 # Seafloor depth: -215.791324 # 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 2 # Segment length 80.963503 meters # Minimum depth: 195.270227 meters looking forward 0.000000 meters along route # Maximum depth: 195.270227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.270227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727737; longitude = -121.973253; captureRadius = 10; duration = 161; initialDepth = 120.774528; finalDepth = 145.270227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.270227 # Seafloor depth: -195.270227 # 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 2 # Segment length 80.963633 meters # Minimum depth: 170.774528 meters looking forward 0.000000 meters along route # Maximum depth: 170.774528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.774528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727626; longitude = -121.972357; captureRadius = 10; duration = 161; initialDepth = 97.655261; finalDepth = 120.774528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 120.774528 # Seafloor depth: -170.774528 # 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 2 # Segment length 80.963762 meters # Minimum depth: 147.655261 meters looking forward 0.000000 meters along route # Maximum depth: 147.655261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.655261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727514; longitude = -121.971461; captureRadius = 10; duration = 161; initialDepth = 85.734561; finalDepth = 97.655261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 97.655261 # Seafloor depth: -147.655261 # 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 2 # Segment length 84.337389 meters # Minimum depth: 135.734561 meters looking forward 0.000000 meters along route # Maximum depth: 135.734561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.734561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727402; longitude = -121.970565; captureRadius = 10; duration = 168; initialDepth = 77.837463; finalDepth = 85.734561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.734561 # Seafloor depth: -135.734561 # 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 to get to end of line 1 # Segment length 111.011290 meters # Minimum depth: 127.837463 meters looking forward 0.000000 meters along route # Maximum depth: 127.837463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.837463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727286; longitude = -121.969631; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 68.941760; finalDepth = 77.837463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.837463 # Seafloor depth: -127.837463 # 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 1 # Segment length 83.258727 meters # Minimum depth: 118.941760 meters looking forward 0.000000 meters along route # Maximum depth: 118.941760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.941760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727009; longitude = -121.968437; captureRadius = 10; duration = 166; initialDepth = 67.546128; finalDepth = 68.941760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 68.94176 # Seafloor depth: -118.941760 # 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 1 # Segment length 83.258948 meters # Minimum depth: 117.546128 meters looking forward 0.000000 meters along route # Maximum depth: 117.546128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.546128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726801; longitude = -121.967541; captureRadius = 10; duration = 166; initialDepth = 65.025690; finalDepth = 67.546128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 67.546128 # Seafloor depth: -117.546128 # 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 1 # Segment length 83.259171 meters # Minimum depth: 115.025690 meters looking forward 0.000000 meters along route # Maximum depth: 115.025690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.025690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726594; longitude = -121.966645; captureRadius = 10; duration = 166; initialDepth = 63.673585; finalDepth = 65.025690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 65.02569 # Seafloor depth: -115.025690 # 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 1 # Segment length 85.085258 meters # Minimum depth: 113.673585 meters looking forward 0.000000 meters along route # Maximum depth: 113.673585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.673585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726386; longitude = -121.965749; captureRadius = 10; duration = 170; initialDepth = 61.599332; finalDepth = 63.673585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 63.673585 # Seafloor depth: -113.673585 # 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 1 # Segment length 81.433748 meters # Minimum depth: 111.599332 meters looking forward 0.000000 meters along route # Maximum depth: 111.599332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.599332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726174; longitude = -121.964833; captureRadius = 10; duration = 162; initialDepth = 60.579022; finalDepth = 61.599332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 61.599332 # Seafloor depth: -111.599332 # 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 1 # Segment length 83.259836 meters # Minimum depth: 110.579022 meters looking forward 0.000000 meters along route # Maximum depth: 110.579022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.579022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725971; longitude = -121.963957; captureRadius = 10; duration = 166; initialDepth = 59.695153; finalDepth = 60.579022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.579022 # Seafloor depth: -110.579022 # 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 1 # Segment length 76.321712 meters # Minimum depth: 109.695153 meters looking forward 0.000000 meters along route # Maximum depth: 109.695153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.695153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725763; longitude = -121.963061; captureRadius = 10; duration = 152; initialDepth = 57.054769; finalDepth = 59.695153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 59.695153 # Seafloor depth: -109.695153 # 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; } # ####################################################### # 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 # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 57.054769 # Seafloor depth: -107.054769 # 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 = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 107.054769 meters looking forward 0.000000 meters along route # Maximum depth: 107.054769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1906.510868 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.054769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725573; longitude = -121.962240; captureRadius = 10; duration = 1000; initialDepth = 57.054769; finalDepth = 57.054769; 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 = 285.439785; 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 = 285.439785; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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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