# 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_4v1.rte # Mission File: 2009MBCanyon_4v1.cfg # Distance: 16691.042999 (m) # Estimated Time: 14541 (s) 4.039 (hr) # Abort Time: 18904 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1957 (s) # Way Points: 21 # Route Points: 220 # 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: 1786.119331 (m) # Abort Vehicle Depth: 1811.119331 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.969465 36.729850 -121.607015 0.000000 3 # 1 -121.985559 36.731953 -529.963623 1456.043651 1 # 2 -122.001617 36.731112 -930.178141 2892.961569 1 # 3 -122.005725 36.730150 -1118.974447 3274.959181 1 # 4 -122.009086 36.724744 -1349.900391 3945.691041 3 # 5 -122.008003 36.721830 -1331.848958 4283.093752 1 # 6 -122.008899 36.718766 -1408.693197 4632.297321 1 # 7 -122.011886 36.710235 -1403.297526 5615.597364 1 # 8 -122.017096 36.706597 -1501.083679 6231.590314 3 # 9 -122.019322 36.703481 -1522.616364 6630.382581 1 # 10 -122.022141 36.700662 -1536.685425 7031.901572 1 # 11 -122.029264 36.697545 -1580.243591 7756.112972 1 # 12 -122.043955 36.694429 -1642.532806 9113.326414 1 # 13 -122.058942 36.694577 -1712.134857 10452.345706 1 # 14 -122.078085 36.698139 -1792.255249 12207.569148 1 # 15 -122.084318 36.700365 -1812.195129 12816.683339 4 # 16 -122.081795 36.701552 -1803.613129 13077.713771 3 # 17 -122.075414 36.699474 -1777.542694 13692.586654 1 # 18 -122.058942 36.695913 -1707.059967 15216.213082 1 # 19 -122.048852 36.695319 -1655.423706 16120.032284 1 # 20 -122.042471 36.695023 -1631.281189 16691.042999 4 # # A total of 220 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 14400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1786.119331; abortDepth = 1811.119331; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1957; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 84.458474 meters # Minimum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.281189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695023; longitude = -122.042471; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1581.281189; finalDepth = 1581.281189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1581.281189 # Seafloor depth:-1631.281189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum depth: 1643.051756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.281189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695026; longitude = -122.042545; captureRadius = 10; duration = 84; initialDepth = 1592.356454; finalDepth = 1581.281189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6990189999999 # Actual altitude: 51.6990189999999 # Commanded vehicle depth:1581.281189 # Seafloor depth:-1632.980208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1643.868751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695068; longitude = -122.043441; captureRadius = 10; duration = 84; initialDepth = 1592.356454; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6990189999999 # Actual altitude: 51.6990189999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1643.586046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695110; longitude = -122.044337; captureRadius = 10; duration = 84; initialDepth = 1594.937515; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2295919999999 # Actual altitude: 51.2295919999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1642.399710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1644.937515 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.937515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695151; longitude = -122.045234; captureRadius = 10; duration = 84; initialDepth = 1595.740354; finalDepth = 1594.937515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1594.937515 # Seafloor depth:-1646.865378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1645.740354 meters looking forward 100.000000 meters along route # Maximum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.740354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695193; longitude = -122.046130; captureRadius = 10; duration = 84; initialDepth = 1598.423071; finalDepth = 1595.740354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1595.740354 # Seafloor depth:-1646.328712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.423071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695234; longitude = -122.047026; captureRadius = 10; duration = 84; initialDepth = 1603.015119; finalDepth = 1598.423071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.835699 # Actual altitude: 50.835699 # Commanded vehicle depth:1598.423071 # Seafloor depth:-1649.258770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.458474 meters # Minimum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum depth: 1657.675477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.015119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695276; longitude = -122.047922; captureRadius = 10; duration = 84; initialDepth = 1605.183094; finalDepth = 1603.015119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1603.015119 # Seafloor depth:-1653.987159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 84.458474 meters # Minimum depth: 1655.183094 meters looking forward 100.000000 meters along route # Maximum depth: 1657.675477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.183094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695319; longitude = -122.048852; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1605.423706; finalDepth = 1605.183094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1605.183094 # Seafloor depth:-1655.423706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1655.423706 meters looking forward 100.000000 meters along route # Maximum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.423706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695330; longitude = -122.049043; captureRadius = 10; duration = 84; initialDepth = 1612.393209; finalDepth = 1605.423706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.534891 # Actual altitude: 50.534891 # Commanded vehicle depth:1605.423706 # Seafloor depth:-1655.958597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.393209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695383; longitude = -122.049939; captureRadius = 10; duration = 84; initialDepth = 1614.330813; finalDepth = 1612.393209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1612.393209 # Seafloor depth:-1663.120504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum depth: 1673.234849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.330813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695436; longitude = -122.050835; captureRadius = 10; duration = 84; initialDepth = 1622.875859; finalDepth = 1614.330813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1614.330813 # Seafloor depth:-1664.356862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1672.875859 meters looking forward 100.000000 meters along route # Maximum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.875859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695489; longitude = -122.051731; captureRadius = 10; duration = 84; initialDepth = 1624.308261; finalDepth = 1622.875859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542285 # Actual altitude: 50.542285 # Commanded vehicle depth:1622.875859 # Seafloor depth:-1673.418144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.308261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695541; longitude = -122.052628; captureRadius = 10; duration = 84; initialDepth = 1626.209100; finalDepth = 1624.308261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5652240000002 # Actual altitude: 50.5652240000002 # Commanded vehicle depth:1624.308261 # Seafloor depth:-1674.873485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.209100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695594; longitude = -122.053524; captureRadius = 10; duration = 84; initialDepth = 1632.900565; finalDepth = 1626.209100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7739369999999 # Actual altitude: 50.7739369999999 # Commanded vehicle depth:1626.2091 # Seafloor depth:-1676.983037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.900565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695647; longitude = -122.054420; captureRadius = 10; duration = 84; initialDepth = 1642.418462; finalDepth = 1632.900565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1632.900565 # Seafloor depth:-1684.222186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.418462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695700; longitude = -122.055316; captureRadius = 10; duration = 84; initialDepth = 1651.266226; finalDepth = 1642.418462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1642.418462 # Seafloor depth:-1693.252432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.266226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695752; longitude = -122.056212; captureRadius = 10; duration = 84; initialDepth = 1655.104456; finalDepth = 1651.266226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8339699999999 # Actual altitude: 50.8339699999999 # Commanded vehicle depth:1651.266226 # Seafloor depth:-1702.016652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum depth: 1707.693492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.104456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695805; longitude = -122.057109; captureRadius = 10; duration = 84; initialDepth = 1656.181082; finalDepth = 1655.104456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7504260000001 # Actual altitude: 50.7504260000001 # Commanded vehicle depth:1655.104456 # Seafloor depth:-1705.691458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.458474 meters # Minimum depth: 1706.181082 meters looking forward 100.000000 meters along route # Maximum depth: 1707.419437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.181082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695858; longitude = -122.058005; captureRadius = 10; duration = 84; initialDepth = 1656.681303; finalDepth = 1656.181082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587002 # Actual altitude: 50.587002 # Commanded vehicle depth:1656.181082 # Seafloor depth:-1706.405239 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 84.458474 meters # Minimum depth: 1706.681303 meters looking forward 100.000000 meters along route # Maximum depth: 1709.429781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.681303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1657.938588; finalDepth = 1656.681303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3786639999998 # Actual altitude: 50.3786639999998 # Commanded vehicle depth:1656.681303 # Seafloor depth:-1707.059967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1707.938588 meters looking forward 100.000000 meters along route # Maximum depth: 1717.295008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.938588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.059469; captureRadius = 10; duration = 84; initialDepth = 1666.559190; finalDepth = 1657.938588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5473489999999 # Actual altitude: 51.5473489999999 # Commanded vehicle depth:1657.938588 # Seafloor depth:-1709.485937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1716.559190 meters looking forward 100.000000 meters along route # Maximum depth: 1720.773137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.559190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.060303; captureRadius = 10; duration = 84; initialDepth = 1668.679242; finalDepth = 1666.559190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5473489999999 # Actual altitude: 51.5473489999999 # Commanded vehicle depth:1666.55919 # Seafloor depth:-1717.509537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1718.679242 meters looking forward 100.000000 meters along route # Maximum depth: 1726.081270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.679242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696389; longitude = -122.061142; captureRadius = 10; duration = 84; initialDepth = 1675.818737; finalDepth = 1668.679242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1668.679242 # Seafloor depth:-1720.825513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1725.818737 meters looking forward 100.000000 meters along route # Maximum depth: 1730.721628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.818737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.061970; captureRadius = 10; duration = 84; initialDepth = 1678.861161; finalDepth = 1675.818737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1675.818737 # Seafloor depth:-1726.078773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1728.861161 meters looking forward 100.000000 meters along route # Maximum depth: 1732.818895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.861161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696752; longitude = -122.062822; captureRadius = 10; duration = 84; initialDepth = 1682.594487; finalDepth = 1678.861161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1678.861161 # Seafloor depth:-1730.831506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1732.594487 meters looking forward 100.000000 meters along route # Maximum depth: 1741.203065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.594487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.063637; captureRadius = 10; duration = 84; initialDepth = 1690.156408; finalDepth = 1682.594487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1682.594487 # Seafloor depth:-1732.888063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1740.156408 meters looking forward 100.000000 meters along route # Maximum depth: 1744.169347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.156408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.064471; captureRadius = 10; duration = 84; initialDepth = 1692.376571; finalDepth = 1690.156408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4929119999999 # Actual altitude: 51.4929119999999 # Commanded vehicle depth:1690.156408 # Seafloor depth:-1741.649320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1742.376571 meters looking forward 100.000000 meters along route # Maximum depth: 1744.960960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.376571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.065305; captureRadius = 10; duration = 84; initialDepth = 1691.421407; finalDepth = 1692.376571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1692.376571 # Seafloor depth:-1744.227638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1741.421407 meters looking forward 100.000000 meters along route # Maximum depth: 1751.694444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.421407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.066138; captureRadius = 10; duration = 84; initialDepth = 1698.156223; finalDepth = 1691.421407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1691.421407 # Seafloor depth:-1741.912847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1748.156223 meters looking forward 100.000000 meters along route # Maximum depth: 1751.866076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.156223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.066972; captureRadius = 10; duration = 84; initialDepth = 1698.856713; finalDepth = 1698.156223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.156223 # Seafloor depth:-1751.710291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1748.856713 meters looking forward 100.000000 meters along route # Maximum depth: 1755.650933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.856713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.067806; captureRadius = 10; duration = 84; initialDepth = 1704.938274; finalDepth = 1698.856713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.856713 # Seafloor depth:-1749.737284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1754.938274 meters looking forward 100.000000 meters along route # Maximum depth: 1757.937806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.938274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698011; longitude = -122.068648; captureRadius = 10; duration = 84; initialDepth = 1707.033136; finalDepth = 1704.938274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8805710000001 # Actual altitude: 50.8805710000001 # Commanded vehicle depth:1704.938274 # Seafloor depth:-1755.658931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1757.033136 meters looking forward 100.000000 meters along route # Maximum depth: 1760.804765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.033136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.069473; captureRadius = 10; duration = 84; initialDepth = 1710.691785; finalDepth = 1707.033136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1707.033136 # Seafloor depth:-1758.276684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1760.691785 meters looking forward 100.000000 meters along route # Maximum depth: 1762.794704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.691785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698375; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1712.715977; finalDepth = 1710.691785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1710.691785 # Seafloor depth:-1760.831715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1762.715977 meters looking forward 100.000000 meters along route # Maximum depth: 1768.181400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.715977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.071141; captureRadius = 10; duration = 84; initialDepth = 1717.138806; finalDepth = 1712.715977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.13993 # Actual altitude: 50.13993 # Commanded vehicle depth:1712.715977 # Seafloor depth:-1762.715977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1767.138806 meters looking forward 100.000000 meters along route # Maximum depth: 1768.895170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.138806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.071974; captureRadius = 10; duration = 84; initialDepth = 1718.438012; finalDepth = 1717.138806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1717.138806 # Seafloor depth:-1768.604104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1768.438012 meters looking forward 100.000000 meters along route # Maximum depth: 1771.073607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.438012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698911; longitude = -122.072808; captureRadius = 10; duration = 84; initialDepth = 1720.898380; finalDepth = 1718.438012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1718.438012 # Seafloor depth:-1768.864492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1770.898380 meters looking forward 100.000000 meters along route # Maximum depth: 1774.692305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.898380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699101; longitude = -122.073689; captureRadius = 10; duration = 84; initialDepth = 1724.502676; finalDepth = 1720.898380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4264799999999 # Actual altitude: 50.4264799999999 # Commanded vehicle depth:1720.89838 # Seafloor depth:-1771.209433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.458474 meters # Minimum depth: 1774.502676 meters looking forward 100.000000 meters along route # Maximum depth: 1777.443764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.502676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699295; longitude = -122.074585; captureRadius = 10; duration = 84; initialDepth = 1724.686293; finalDepth = 1724.502676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.537973 # Actual altitude: 50.537973 # Commanded vehicle depth:1724.502676 # Seafloor depth:-1775.040649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 84.458474 meters # Minimum depth: 1774.686293 meters looking forward 100.000000 meters along route # Maximum depth: 1777.542694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.686293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.075414; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1726.637324; finalDepth = 1724.686293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.856401 # Actual altitude: 52.856401 # Commanded vehicle depth:1724.686293 # Seafloor depth:-1777.542694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1777.342759 meters looking forward 100.000000 meters along route # Maximum depth: 1781.474714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.637324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699496; longitude = -122.075481; captureRadius = 10; duration = 84; initialDepth = 1731.379215; finalDepth = 1726.637324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.856401 # Actual altitude: 52.856401 # Commanded vehicle depth:1726.6373241 # Seafloor depth:-1777.768952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1781.379215 meters looking forward 100.000000 meters along route # Maximum depth: 1784.301006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.379215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699751; longitude = -122.076266; captureRadius = 10; duration = 84; initialDepth = 1733.681996; finalDepth = 1731.379215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1316278999996 # Actual altitude: 51.1316278999996 # Commanded vehicle depth:1731.379215 # Seafloor depth:-1781.510300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1783.681996 meters looking forward 100.000000 meters along route # Maximum depth: 1787.853539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.681996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -122.077050; captureRadius = 10; duration = 84; initialDepth = 1736.809205; finalDepth = 1733.681996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8085329999999 # Actual altitude: 50.8085329999999 # Commanded vehicle depth:1733.681996 # Seafloor depth:-1784.490529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1786.809205 meters looking forward 100.000000 meters along route # Maximum depth: 1790.538494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.809205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700262; longitude = -122.077835; captureRadius = 10; duration = 84; initialDepth = 1739.992094; finalDepth = 1736.809205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0480150000001 # Actual altitude: 51.0480150000001 # Commanded vehicle depth:1736.809205 # Seafloor depth:-1787.857220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1789.992094 meters looking forward 100.000000 meters along route # Maximum depth: 1793.149058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.992094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700517; longitude = -122.078618; captureRadius = 10; duration = 84; initialDepth = 1743.001873; finalDepth = 1739.992094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1739.992094 # Seafloor depth:-1791.107106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1793.001873 meters looking forward 100.000000 meters along route # Maximum depth: 1797.652772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.001873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700773; longitude = -122.079403; captureRadius = 10; duration = 84; initialDepth = 1747.475504; finalDepth = 1743.001873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1743.001873 # Seafloor depth:-1793.674877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1797.475504 meters looking forward 100.000000 meters along route # Maximum depth: 1799.904991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.475504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701028; longitude = -122.080187; captureRadius = 10; duration = 84; initialDepth = 1749.822543; finalDepth = 1747.475504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.673004 # Actual altitude: 50.673004 # Commanded vehicle depth:1747.475504 # Seafloor depth:-1797.610821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.458474 meters # Minimum depth: 1799.822543 meters looking forward 100.000000 meters along route # Maximum depth: 1803.569425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.822543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701284; longitude = -122.080971; captureRadius = 10; duration = 84; initialDepth = 1750.670407; finalDepth = 1749.822543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4504489999999 # Actual altitude: 50.4504489999999 # Commanded vehicle depth:1749.822543 # Seafloor depth:-1800.272992 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 84.458474 meters # Minimum depth: 1800.670407 meters looking forward 100.000000 meters along route # Maximum depth: 1805.150156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.670407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701552; longitude = -122.081795; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1754.194594; finalDepth = 1750.670407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.942722 # Actual altitude: 52.942722 # Commanded vehicle depth:1750.670407 # Seafloor depth:-1803.613129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.458474 meters # Minimum depth: 1804.194594 meters looking forward 100.000000 meters along route # Maximum depth: 1807.233070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.194594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.082046; captureRadius = 10; duration = 84; initialDepth = 1756.472036; finalDepth = 1754.194594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.942722 # Actual altitude: 52.942722 # Commanded vehicle depth:1754.194594 # Seafloor depth:-1805.475938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.458474 meters # Minimum depth: 1806.472036 meters looking forward 100.000000 meters along route # Maximum depth: 1810.229953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.472036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.082812; captureRadius = 10; duration = 84; initialDepth = 1759.477765; finalDepth = 1756.472036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.281344 # Actual altitude: 51.281344 # Commanded vehicle depth:1756.472036 # Seafloor depth:-1807.391682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.458474 meters # Minimum depth: 1809.477765 meters looking forward 100.000000 meters along route # Maximum depth: 1812.029132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.477765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.083579; captureRadius = 10; duration = 84; initialDepth = 1761.119331; finalDepth = 1759.477765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50.9196460000001 # Actual altitude: 50.9196460000001 # Commanded vehicle depth:1759.477765 # Seafloor depth:-1810.315083 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 84.458474 meters # Minimum depth: 1811.119331 meters looking forward 100.000000 meters along route # Maximum depth: 1812.328336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.119331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.084318; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1759.105787; finalDepth = 1761.119331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0757979999998 # Actual altitude: 51.0757979999998 # Commanded vehicle depth:1761.119331 # Seafloor depth:-1812.195129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1809.105787 meters looking forward 100.000000 meters along route # Maximum depth: 1811.826616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.105787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700130; longitude = -122.083660; captureRadius = 10; duration = 84; initialDepth = 1754.844830; finalDepth = 1759.105787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9034670000001 # Actual altitude: 51.9034670000001 # Commanded vehicle depth:1759.105787 # Seafloor depth:-1811.009254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1804.844830 meters looking forward 100.000000 meters along route # Maximum depth: 1809.454255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.844830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699850; longitude = -122.082875; captureRadius = 10; duration = 84; initialDepth = 1753.566547; finalDepth = 1754.844830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1754.84483 # Seafloor depth:-1808.680670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1803.566547 meters looking forward 100.000000 meters along route # Maximum depth: 1805.308050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.566547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699570; longitude = -122.082091; captureRadius = 10; duration = 84; initialDepth = 1751.608586; finalDepth = 1753.566547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1753.566547 # Seafloor depth:-1804.686328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1801.608586 meters looking forward 100.000000 meters along route # Maximum depth: 1803.856734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.608586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699290; longitude = -122.081307; captureRadius = 10; duration = 84; initialDepth = 1746.977807; finalDepth = 1751.608586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0618449999999 # Actual altitude: 52.0618449999999 # Commanded vehicle depth:1751.608586 # Seafloor depth:-1803.670431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1796.977807 meters looking forward 100.000000 meters along route # Maximum depth: 1802.190441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.977807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699010; longitude = -122.080523; captureRadius = 10; duration = 84; initialDepth = 1746.576337; finalDepth = 1746.977807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.977807 # Seafloor depth:-1801.235886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1796.576337 meters looking forward 100.000000 meters along route # Maximum depth: 1798.165305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.576337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.079739; captureRadius = 10; duration = 84; initialDepth = 1742.362211; finalDepth = 1746.576337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.576337 # Seafloor depth:-1796.969284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.458474 meters # Minimum depth: 1792.362211 meters looking forward 100.000000 meters along route # Maximum depth: 1797.178552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.362211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698449; longitude = -122.078954; captureRadius = 10; duration = 84; initialDepth = 1740.384809; finalDepth = 1742.362211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1742.362211 # Seafloor depth:-1797.178552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 84.458474 meters # Minimum depth: 1790.384809 meters looking forward 100.000000 meters along route # Maximum depth: 1792.617024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.384809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698139; longitude = -122.078085; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1738.972273; finalDepth = 1740.384809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1740.384809 # Seafloor depth:-1792.255249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1788.972273 meters looking forward 100.000000 meters along route # Maximum depth: 1790.450453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.972273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697988; longitude = -122.077274; captureRadius = 10; duration = 84; initialDepth = 1736.441224; finalDepth = 1738.972273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8704400000001 # Actual altitude: 51.8704400000001 # Commanded vehicle depth:1738.972273 # Seafloor depth:-1790.422988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum depth: 1789.475967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.441224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.076420; captureRadius = 10; duration = 84; initialDepth = 1732.513710; finalDepth = 1736.441224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.189114 # Actual altitude: 52.189114 # Commanded vehicle depth:1736.441224 # Seafloor depth:-1788.630338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.513710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697675; longitude = -122.075594; captureRadius = 10; duration = 84; initialDepth = 1727.278952; finalDepth = 1732.513710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2016190000002 # Actual altitude: 53.2016190000002 # Commanded vehicle depth:1732.51371 # Seafloor depth:-1785.715329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.278952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697509; longitude = -122.074697; captureRadius = 10; duration = 84; initialDepth = 1721.381719; finalDepth = 1727.278952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2947730000001 # Actual altitude: 54.2947730000001 # Commanded vehicle depth:1727.278952 # Seafloor depth:-1781.573725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1771.381719 meters looking forward 100.000000 meters along route # Maximum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.381719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697342; longitude = -122.073801; captureRadius = 10; duration = 84; initialDepth = 1715.391761; finalDepth = 1721.381719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9970390000001 # Actual altitude: 54.9970390000001 # Commanded vehicle depth:1721.381719 # Seafloor depth:-1776.378758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1765.391761 meters looking forward 100.000000 meters along route # Maximum depth: 1772.135849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.391761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697175; longitude = -122.072905; captureRadius = 10; duration = 84; initialDepth = 1714.393261; finalDepth = 1715.391761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1715.391761 # Seafloor depth:-1770.559034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum depth: 1766.236325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.393261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.072062; captureRadius = 10; duration = 84; initialDepth = 1708.559060; finalDepth = 1714.393261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1714.393261 # Seafloor depth:-1765.191505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1758.559060 meters looking forward 100.000000 meters along route # Maximum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.559060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696862; longitude = -122.071224; captureRadius = 10; duration = 84; initialDepth = 1707.853383; finalDepth = 1708.559060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1708.55906 # Seafloor depth:-1763.556388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1757.853383 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.853383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696696; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.853383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1707.853383 # Seafloor depth:-1758.114042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696529; longitude = -122.069432; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1759.075230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1758.077348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696362; longitude = -122.068536; captureRadius = 10; duration = 84; initialDepth = 1706.421623; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1757.473409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1756.421623 meters looking forward 100.000000 meters along route # Maximum depth: 1757.823008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.421623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.067703; captureRadius = 10; duration = 84; initialDepth = 1702.879087; finalDepth = 1706.421623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.088113 # Actual altitude: 51.088113 # Commanded vehicle depth:1706.421623 # Seafloor depth:-1757.509736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1752.879087 meters looking forward 100.000000 meters along route # Maximum depth: 1757.239169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.879087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696049; longitude = -122.066855; captureRadius = 10; duration = 84; initialDepth = 1697.577915; finalDepth = 1702.879087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.004737 # Actual altitude: 54.004737 # Commanded vehicle depth:1702.879087 # Seafloor depth:-1756.883824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum depth: 1753.668001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.577915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695883; longitude = -122.065959; captureRadius = 10; duration = 84; initialDepth = 1693.754648; finalDepth = 1697.577915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1697.577915 # Seafloor depth:-1753.116409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1743.754648 meters looking forward 100.000000 meters along route # Maximum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.754648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695716; longitude = -122.065063; captureRadius = 10; duration = 84; initialDepth = 1686.466626; finalDepth = 1693.754648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1693.754648 # Seafloor depth:-1746.924377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1736.466626 meters looking forward 100.000000 meters along route # Maximum depth: 1744.372680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.466626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695549; longitude = -122.064167; captureRadius = 10; duration = 84; initialDepth = 1682.195652; finalDepth = 1686.466626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1686.466626 # Seafloor depth:-1742.796573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1732.195652 meters looking forward 100.000000 meters along route # Maximum depth: 1737.315822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.195652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.063344; captureRadius = 10; duration = 84; initialDepth = 1681.917904; finalDepth = 1682.195652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1682.195652 # Seafloor depth:-1736.201013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1731.917904 meters looking forward 100.000000 meters along route # Maximum depth: 1733.336705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.917904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695236; longitude = -122.062486; captureRadius = 10; duration = 84; initialDepth = 1678.002430; finalDepth = 1681.917904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.005361 # Actual altitude: 54.005361 # Commanded vehicle depth:1681.917904 # Seafloor depth:-1731.917904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum depth: 1732.152681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.002430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695070; longitude = -122.061590; captureRadius = 10; duration = 84; initialDepth = 1670.399301; finalDepth = 1678.002430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.730405 # Actual altitude: 53.730405 # Commanded vehicle depth:1678.00243 # Seafloor depth:-1731.732835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1720.399301 meters looking forward 100.000000 meters along route # Maximum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.399301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694903; longitude = -122.060694; captureRadius = 10; duration = 84; initialDepth = 1663.033497; finalDepth = 1670.399301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1670.399301 # Seafloor depth:-1727.871126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.458474 meters # Minimum depth: 1713.033497 meters looking forward 100.000000 meters along route # Maximum depth: 1721.946610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.033497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694736; longitude = -122.059797; captureRadius = 10; duration = 84; initialDepth = 1659.268699; finalDepth = 1663.033497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1663.033497 # Seafloor depth:-1719.220434 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 84.458474 meters # Minimum depth: 1709.268699 meters looking forward 100.000000 meters along route # Maximum depth: 1716.462406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.268699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694577; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1652.100952; finalDepth = 1659.268699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1869370000002 # Actual altitude: 56.1869370000002 # Commanded vehicle depth:1659.268699 # Seafloor depth:-1712.134857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum depth: 1709.268699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.100952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694571; longitude = -122.058341; captureRadius = 10; duration = 84; initialDepth = 1640.701875; finalDepth = 1652.100952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.958443 # Actual altitude: 56.958443 # Commanded vehicle depth:1652.100952 # Seafloor depth:-1709.059395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1690.701875 meters looking forward 100.000000 meters along route # Maximum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.701875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694562; longitude = -122.057445; captureRadius = 10; duration = 84; initialDepth = 1639.481819; finalDepth = 1640.701875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1640.701875 # Seafloor depth:-1700.801675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1689.481819 meters looking forward 100.000000 meters along route # Maximum depth: 1691.851293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.481819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694553; longitude = -122.056549; captureRadius = 10; duration = 84; initialDepth = 1641.197533; finalDepth = 1639.481819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1639.481819 # Seafloor depth:-1690.173820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum depth: 1693.205500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.197533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694545; longitude = -122.055652; captureRadius = 10; duration = 84; initialDepth = 1636.810276; finalDepth = 1641.197533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2780419999999 # Actual altitude: 51.2780419999999 # Commanded vehicle depth:1641.197533 # Seafloor depth:-1692.475575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.810276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694536; longitude = -122.054756; captureRadius = 10; duration = 84; initialDepth = 1629.243491; finalDepth = 1636.810276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.044443 # Actual altitude: 54.044443 # Commanded vehicle depth:1636.810276 # Seafloor depth:-1690.854719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.243491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694527; longitude = -122.053860; captureRadius = 10; duration = 84; initialDepth = 1625.088952; finalDepth = 1629.243491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1629.243491 # Seafloor depth:-1686.122163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.088952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694518; longitude = -122.052964; captureRadius = 10; duration = 84; initialDepth = 1623.270294; finalDepth = 1625.088952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1625.088952 # Seafloor depth:-1678.343746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.270294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694509; longitude = -122.052067; captureRadius = 10; duration = 84; initialDepth = 1618.948310; finalDepth = 1623.270294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2547939999999 # Actual altitude: 53.2547939999999 # Commanded vehicle depth:1623.270294 # Seafloor depth:-1674.646085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.948310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694500; longitude = -122.051171; captureRadius = 10; duration = 84; initialDepth = 1613.774763; finalDepth = 1618.948310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.941221 # Actual altitude: 53.941221 # Commanded vehicle depth:1618.94831 # Seafloor depth:-1672.889531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1663.774763 meters looking forward 100.000000 meters along route # Maximum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.774763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694491; longitude = -122.050275; captureRadius = 10; duration = 84; initialDepth = 1613.444239; finalDepth = 1613.774763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.774763 # Seafloor depth:-1668.591958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum depth: 1665.363639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.444239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694483; longitude = -122.049379; captureRadius = 10; duration = 84; initialDepth = 1605.500888; finalDepth = 1613.444239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.444239 # Seafloor depth:-1663.704756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.500888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694474; longitude = -122.048482; captureRadius = 10; duration = 84; initialDepth = 1600.686302; finalDepth = 1605.500888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1605.500888 # Seafloor depth:-1662.230231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1650.686302 meters looking forward 100.000000 meters along route # Maximum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.686302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694465; longitude = -122.047586; captureRadius = 10; duration = 84; initialDepth = 1599.660929; finalDepth = 1600.686302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1600.686302 # Seafloor depth:-1654.674204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1649.660929 meters looking forward 100.000000 meters along route # Maximum depth: 1651.223170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.660929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694456; longitude = -122.046690; captureRadius = 10; duration = 84; initialDepth = 1597.505174; finalDepth = 1599.660929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9879019999998 # Actual altitude: 53.9879019999998 # Commanded vehicle depth:1599.660929 # Seafloor depth:-1650.033205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum depth: 1651.128043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.505174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694447; longitude = -122.045794; captureRadius = 10; duration = 84; initialDepth = 1592.938966; finalDepth = 1597.505174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5919800000001 # Actual altitude: 53.5919800000001 # Commanded vehicle depth:1597.505174 # Seafloor depth:-1651.097154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.458474 meters # Minimum depth: 1642.938966 meters looking forward 100.000000 meters along route # Maximum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.938966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694438; longitude = -122.044898; captureRadius = 10; duration = 84; initialDepth = 1589.337735; finalDepth = 1592.938966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1592.938966 # Seafloor depth:-1646.725079 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 84.458474 meters # Minimum depth: 1639.337735 meters looking forward 100.000000 meters along route # Maximum depth: 1643.937904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.337735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.043955; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1576.923201; finalDepth = 1589.337735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1589.337735 # Seafloor depth:-1642.532806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1640.745772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694586; longitude = -122.043217; captureRadius = 10; duration = 84; initialDepth = 1576.923201; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1639.326118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1633.317839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.042369; captureRadius = 10; duration = 84; initialDepth = 1577.561449; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1627.241703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1627.561449 meters looking forward 100.000000 meters along route # Maximum depth: 1632.506637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.561449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694946; longitude = -122.041520; captureRadius = 10; duration = 84; initialDepth = 1572.410929; finalDepth = 1577.561449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.613261 # Actual altitude: 53.613261 # Commanded vehicle depth:1577.561449 # Seafloor depth:-1631.174710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1622.410929 meters looking forward 100.000000 meters along route # Maximum depth: 1629.789645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.410929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695132; longitude = -122.040640; captureRadius = 10; duration = 84; initialDepth = 1568.401355; finalDepth = 1572.410929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1572.410929 # Seafloor depth:-1629.789645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1618.401355 meters looking forward 100.000000 meters along route # Maximum depth: 1623.807862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.401355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695306; longitude = -122.039820; captureRadius = 10; duration = 84; initialDepth = 1566.636062; finalDepth = 1568.401355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1568.401355 # Seafloor depth:-1622.046213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1616.636062 meters looking forward 100.000000 meters along route # Maximum depth: 1618.733613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.636062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695488; longitude = -122.038960; captureRadius = 10; duration = 84; initialDepth = 1563.700332; finalDepth = 1566.636062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6448580000001 # Actual altitude: 53.6448580000001 # Commanded vehicle depth:1566.636062 # Seafloor depth:-1618.383863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1613.700332 meters looking forward 100.000000 meters along route # Maximum depth: 1617.479565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.700332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695666; longitude = -122.038121; captureRadius = 10; duration = 84; initialDepth = 1560.772083; finalDepth = 1563.700332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3053070000001 # Actual altitude: 52.3053070000001 # Commanded vehicle depth:1563.700332 # Seafloor depth:-1616.005639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1610.772083 meters looking forward 100.000000 meters along route # Maximum depth: 1615.654444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.772083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.037271; captureRadius = 10; duration = 84; initialDepth = 1553.817712; finalDepth = 1560.772083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.860471 # Actual altitude: 54.860471 # Commanded vehicle depth:1560.772083 # Seafloor depth:-1615.632554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1603.817712 meters looking forward 100.000000 meters along route # Maximum depth: 1611.569382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.817712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696035; longitude = -122.036383; captureRadius = 10; duration = 84; initialDepth = 1547.567990; finalDepth = 1553.817712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1553.817712 # Seafloor depth:-1610.337486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1597.567990 meters looking forward 100.000000 meters along route # Maximum depth: 1604.025337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.567990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696225; longitude = -122.035487; captureRadius = 10; duration = 84; initialDepth = 1541.500440; finalDepth = 1547.567990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1547.56799 # Seafloor depth:-1603.081856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1591.500440 meters looking forward 100.000000 meters along route # Maximum depth: 1598.311409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.500440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696415; longitude = -122.034591; captureRadius = 10; duration = 84; initialDepth = 1538.593362; finalDepth = 1541.500440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1541.50044 # Seafloor depth:-1598.077761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1588.593362 meters looking forward 100.000000 meters along route # Maximum depth: 1592.406099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.593362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696605; longitude = -122.033695; captureRadius = 10; duration = 84; initialDepth = 1534.218406; finalDepth = 1538.593362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1538.593362 # Seafloor depth:-1590.087022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum depth: 1589.349196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.218406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696795; longitude = -122.032798; captureRadius = 10; duration = 84; initialDepth = 1532.301728; finalDepth = 1534.218406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1534.218406 # Seafloor depth:-1589.021321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1582.301728 meters looking forward 100.000000 meters along route # Maximum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.301728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696985; longitude = -122.031902; captureRadius = 10; duration = 84; initialDepth = 1532.577437; finalDepth = 1532.301728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1532.301728 # Seafloor depth:-1583.807256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1582.577437 meters looking forward 100.000000 meters along route # Maximum depth: 1583.523922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.577437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697176; longitude = -122.031006; captureRadius = 10; duration = 84; initialDepth = 1530.925899; finalDepth = 1532.577437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5055280000001 # Actual altitude: 51.5055280000001 # Commanded vehicle depth:1532.577437 # Seafloor depth:-1583.019670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.458474 meters # Minimum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum depth: 1583.462525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.925899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697366; longitude = -122.030110; captureRadius = 10; duration = 84; initialDepth = 1530.046897; finalDepth = 1530.925899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5096899999999 # Actual altitude: 52.5096899999999 # Commanded vehicle depth:1530.925899 # Seafloor depth:-1583.435589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 84.458474 meters # Minimum depth: 1580.046897 meters looking forward 100.000000 meters along route # Maximum depth: 1583.462525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.046897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697545; longitude = -122.029264; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1527.228962; finalDepth = 1530.046897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5096899999999 # Actual altitude: 52.5096899999999 # Commanded vehicle depth:1530.046897 # Seafloor depth:-1580.243591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1577.228962 meters looking forward 100.000000 meters along route # Maximum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.228962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697567; longitude = -122.029213; captureRadius = 10; duration = 84; initialDepth = 1513.893893; finalDepth = 1527.228962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.587884 # Actual altitude: 52.587884 # Commanded vehicle depth:1527.228962 # Seafloor depth:-1579.816846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1563.893893 meters looking forward 100.000000 meters along route # Maximum depth: 1579.361314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.893893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697919; longitude = -122.028409; captureRadius = 10; duration = 84; initialDepth = 1512.426908; finalDepth = 1513.893893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1513.893893 # Seafloor depth:-1576.750794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1562.426908 meters looking forward 100.000000 meters along route # Maximum depth: 1564.256409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.426908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698253; longitude = -122.027645; captureRadius = 10; duration = 84; initialDepth = 1512.930823; finalDepth = 1512.426908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1512.426908 # Seafloor depth:-1564.256409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1562.930823 meters looking forward 100.000000 meters along route # Maximum depth: 1564.908812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.930823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698597; longitude = -122.026861; captureRadius = 10; duration = 84; initialDepth = 1504.335634; finalDepth = 1512.930823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8295010000002 # Actual altitude: 51.8295010000002 # Commanded vehicle depth:1512.930823 # Seafloor depth:-1563.444294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1554.335634 meters looking forward 100.000000 meters along route # Maximum depth: 1564.502643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.335634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698940; longitude = -122.026077; captureRadius = 10; duration = 84; initialDepth = 1498.366958; finalDepth = 1504.335634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1504.335634 # Seafloor depth:-1563.484116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1548.366958 meters looking forward 100.000000 meters along route # Maximum depth: 1554.804980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.366958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699283; longitude = -122.025292; captureRadius = 10; duration = 84; initialDepth = 1494.638785; finalDepth = 1498.366958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1498.366958 # Seafloor depth:-1554.134646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1544.638785 meters looking forward 100.000000 meters along route # Maximum depth: 1548.937605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.638785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.024496; captureRadius = 10; duration = 84; initialDepth = 1489.317351; finalDepth = 1494.638785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7676879999999 # Actual altitude: 55.7676879999999 # Commanded vehicle depth:1494.638785 # Seafloor depth:-1548.283804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1539.317351 meters looking forward 100.000000 meters along route # Maximum depth: 1545.083870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.317351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699969; longitude = -122.023724; captureRadius = 10; duration = 84; initialDepth = 1486.024107; finalDepth = 1489.317351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1489.317351 # Seafloor depth:-1543.481487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.458474 meters # Minimum depth: 1536.024107 meters looking forward 100.000000 meters along route # Maximum depth: 1539.601933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.024107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700312; longitude = -122.022940; captureRadius = 10; duration = 84; initialDepth = 1486.024107; finalDepth = 1486.024107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1486.024107 # Seafloor depth:-1539.253463 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 84.458474 meters # Minimum depth: 1536.024107 meters looking forward 100.000000 meters along route # Maximum depth: 1539.601933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.024107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700662; longitude = -122.022141; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1484.803871; finalDepth = 1486.024107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2293560000001 # Actual altitude: 53.2293560000001 # Commanded vehicle depth:1486.024107 # Seafloor depth:-1536.685425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.458474 meters # Minimum depth: 1534.803871 meters looking forward 100.000000 meters along route # Maximum depth: 1536.685425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.803871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.022090; captureRadius = 10; duration = 84; initialDepth = 1482.164122; finalDepth = 1484.803871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6283989999999 # Actual altitude: 51.6283989999999 # Commanded vehicle depth:1484.803871 # Seafloor depth:-1536.432270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.458474 meters # Minimum depth: 1532.164122 meters looking forward 100.000000 meters along route # Maximum depth: 1535.333501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.164122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.021549; captureRadius = 10; duration = 84; initialDepth = 1476.945179; finalDepth = 1482.164122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1693790000002 # Actual altitude: 53.1693790000002 # Commanded vehicle depth:1482.164122 # Seafloor depth:-1535.333501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.458474 meters # Minimum depth: 1526.945179 meters looking forward 100.000000 meters along route # Maximum depth: 1532.429114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.945179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.021009; captureRadius = 10; duration = 84; initialDepth = 1472.801345; finalDepth = 1476.945179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1476.945179 # Seafloor depth:-1532.111517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.458474 meters # Minimum depth: 1522.801345 meters looking forward 100.000000 meters along route # Maximum depth: 1527.715634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.801345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.020468; captureRadius = 10; duration = 84; initialDepth = 1470.339717; finalDepth = 1472.801345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1472.801345 # Seafloor depth:-1526.848378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.458474 meters # Minimum depth: 1520.339717 meters looking forward 100.000000 meters along route # Maximum depth: 1524.291636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.339717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702888; longitude = -122.019915; captureRadius = 10; duration = 84; initialDepth = 1466.586587; finalDepth = 1470.339717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0470329999998 # Actual altitude: 54.0470329999998 # Commanded vehicle depth:1470.339717 # Seafloor depth:-1522.654847 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 84.458474 meters # Minimum depth: 1516.586587 meters looking forward 100.000000 meters along route # Maximum depth: 1522.616364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.586587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703481; longitude = -122.019322; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1463.816298; finalDepth = 1466.586587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1466.586587 # Seafloor depth:-1522.616364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.458474 meters # Minimum depth: 1513.816298 meters looking forward 100.000000 meters along route # Maximum depth: 1516.754370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.816298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704062; longitude = -122.018907; captureRadius = 10; duration = 84; initialDepth = 1462.119811; finalDepth = 1463.816298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1463.816298 # Seafloor depth:-1516.563812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.458474 meters # Minimum depth: 1512.119811 meters looking forward 100.000000 meters along route # Maximum depth: 1514.749296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.119811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704690; longitude = -122.018459; captureRadius = 10; duration = 84; initialDepth = 1456.377581; finalDepth = 1462.119811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7475140000001 # Actual altitude: 52.7475140000001 # Commanded vehicle depth:1462.119811 # Seafloor depth:-1513.601260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.458474 meters # Minimum depth: 1506.377581 meters looking forward 100.000000 meters along route # Maximum depth: 1513.575651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.377581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705317; longitude = -122.018011; captureRadius = 10; duration = 84; initialDepth = 1452.250954; finalDepth = 1456.377581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1456.377581 # Seafloor depth:-1513.090588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.458474 meters # Minimum depth: 1502.250954 meters looking forward 100.000000 meters along route # Maximum depth: 1507.624443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.250954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705944; longitude = -122.017562; captureRadius = 10; duration = 84; initialDepth = 1443.420745; finalDepth = 1452.250954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1452.250954 # Seafloor depth:-1506.340402 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 84.458474 meters # Minimum depth: 1493.420745 meters looking forward 100.000000 meters along route # Maximum depth: 1505.398373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.420745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.017096; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1431.288608; finalDepth = 1443.420745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6629340000002 # Actual altitude: 57.6629340000002 # Commanded vehicle depth:1443.420745 # Seafloor depth:-1501.083679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1481.288608 meters looking forward 100.000000 meters along route # Maximum depth: 1495.160859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.288608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707021; longitude = -122.016489; captureRadius = 10; duration = 84; initialDepth = 1419.377540; finalDepth = 1431.288608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8934549999999 # Actual altitude: 60.8934549999999 # Commanded vehicle depth:1431.288608 # Seafloor depth:-1492.182063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.36; MB_Bottom_Detect_Filter_Max_Range = 243.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1469.377540 meters looking forward 100.000000 meters along route # Maximum depth: 1483.701348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.377540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707472; longitude = -122.015844; captureRadius = 10; duration = 84; initialDepth = 1407.377573; finalDepth = 1419.377540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.994819 # Actual altitude: 60.994819 # Commanded vehicle depth:1419.37754 # Seafloor depth:-1480.372359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 243.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1457.377573 meters looking forward 100.000000 meters along route # Maximum depth: 1471.709907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.377573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707922; longitude = -122.015198; captureRadius = 10; duration = 84; initialDepth = 1393.471421; finalDepth = 1407.377573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.7796840000001 # Actual altitude: 61.7796840000001 # Commanded vehicle depth:1407.377573 # Seafloor depth:-1469.157257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 247.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1443.471421 meters looking forward 100.000000 meters along route # Maximum depth: 1460.345694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.471421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708384; longitude = -122.014538; captureRadius = 10; duration = 84; initialDepth = 1379.970639; finalDepth = 1393.471421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.657606 # Actual altitude: 63.657606 # Commanded vehicle depth:1393.471421 # Seafloor depth:-1457.129027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1429.970639 meters looking forward 100.000000 meters along route # Maximum depth: 1448.725253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.970639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708853; longitude = -122.013865; captureRadius = 10; duration = 84; initialDepth = 1368.148739; finalDepth = 1379.970639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.657606 # Actual altitude: 63.657606 # Commanded vehicle depth:1379.970639 # Seafloor depth:-1442.417923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1418.148739 meters looking forward 100.000000 meters along route # Maximum depth: 1430.951427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.148739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709322; longitude = -122.013193; captureRadius = 10; duration = 84; initialDepth = 1354.652722; finalDepth = 1368.148739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4472840000001 # Actual altitude: 62.4472840000001 # Commanded vehicle depth:1368.148739 # Seafloor depth:-1428.732513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 249.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.458474 meters # Minimum depth: 1404.652722 meters looking forward 100.000000 meters along route # Maximum depth: 1418.585278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.652722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709792; longitude = -122.012521; captureRadius = 10; duration = 84; initialDepth = 1351.320404; finalDepth = 1354.652722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5837739999999 # Actual altitude: 60.5837739999999 # Commanded vehicle depth:1354.652722 # Seafloor depth:-1415.039240 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.23; MB_Bottom_Detect_Filter_Max_Range = 242.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 84.458474 meters # Minimum depth: 1401.320404 meters looking forward 100.000000 meters along route # Maximum depth: 1406.495171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.320404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710235; longitude = -122.011886; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1353.524995; finalDepth = 1351.320404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.386518 # Actual altitude: 60.386518 # Commanded vehicle depth:1351.320404 # Seafloor depth:-1403.297526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 241.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1403.524995 meters looking forward 100.000000 meters along route # Maximum depth: 1422.499672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.524995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710896; longitude = -122.011655; captureRadius = 10; duration = 84; initialDepth = 1371.318987; finalDepth = 1353.524995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.977122 # Actual altitude: 51.977122 # Commanded vehicle depth:1353.524995 # Seafloor depth:-1405.136198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1421.318987 meters looking forward 100.000000 meters along route # Maximum depth: 1425.110187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.318987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711621; longitude = -122.011401; captureRadius = 10; duration = 84; initialDepth = 1362.669963; finalDepth = 1371.318987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6112029999999 # Actual altitude: 51.6112029999999 # Commanded vehicle depth:1371.318987 # Seafloor depth:-1422.532812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1412.669963 meters looking forward 100.000000 meters along route # Maximum depth: 1425.509093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.669963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712338; longitude = -122.011150; captureRadius = 10; duration = 84; initialDepth = 1353.576163; finalDepth = 1362.669963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8391299999998 # Actual altitude: 62.8391299999998 # Commanded vehicle depth:1362.669963 # Seafloor depth:-1425.509093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1403.576163 meters looking forward 100.000000 meters along route # Maximum depth: 1412.669963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.576163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.010897; captureRadius = 10; duration = 84; initialDepth = 1353.576163; finalDepth = 1353.576163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8391299999998 # Actual altitude: 62.8391299999998 # Commanded vehicle depth:1353.576163 # Seafloor depth:-1411.194558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1403.576163 meters looking forward 100.000000 meters along route # Maximum depth: 1424.942237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.576163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.010645; captureRadius = 10; duration = 84; initialDepth = 1363.713515; finalDepth = 1353.576163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.618395 # Actual altitude: 57.618395 # Commanded vehicle depth:1353.576163 # Seafloor depth:-1404.188461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 230.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1413.713515 meters looking forward 100.000000 meters along route # Maximum depth: 1427.195679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.713515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714501; longitude = -122.010393; captureRadius = 10; duration = 84; initialDepth = 1371.134138; finalDepth = 1363.713515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.482164 # Actual altitude: 63.482164 # Commanded vehicle depth:1363.713515 # Seafloor depth:-1427.195679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1421.134138 meters looking forward 100.000000 meters along route # Maximum depth: 1440.367827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.134138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.010140; captureRadius = 10; duration = 84; initialDepth = 1381.634558; finalDepth = 1371.134138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.482164 # Actual altitude: 63.482164 # Commanded vehicle depth:1371.134138 # Seafloor depth:-1427.876984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1431.634558 meters looking forward 100.000000 meters along route # Maximum depth: 1436.306422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.634558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715942; longitude = -122.009888; captureRadius = 10; duration = 84; initialDepth = 1374.895001; finalDepth = 1381.634558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7428460000001 # Actual altitude: 56.7428460000001 # Commanded vehicle depth:1381.634558 # Seafloor depth:-1436.306422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 226.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1424.895001 meters looking forward 100.000000 meters along route # Maximum depth: 1435.127980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.895001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716663; longitude = -122.009635; captureRadius = 10; duration = 84; initialDepth = 1366.777661; finalDepth = 1374.895001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2329789999999 # Actual altitude: 60.2329789999999 # Commanded vehicle depth:1374.895001 # Seafloor depth:-1435.127980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 240.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1416.777661 meters looking forward 100.000000 meters along route # Maximum depth: 1426.274070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.777661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717384; longitude = -122.009383; captureRadius = 10; duration = 84; initialDepth = 1359.240322; finalDepth = 1366.777661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2329789999999 # Actual altitude: 60.2329789999999 # Commanded vehicle depth:1366.777661 # Seafloor depth:-1424.815058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 240.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.458474 meters # Minimum depth: 1409.240322 meters looking forward 100.000000 meters along route # Maximum depth: 1419.123729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.240322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718105; longitude = -122.009130; captureRadius = 10; duration = 84; initialDepth = 1354.300557; finalDepth = 1359.240322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0373969999998 # Actual altitude: 58.0373969999998 # Commanded vehicle depth:1359.240322 # Seafloor depth:-1415.439163 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 84.458474 meters # Minimum depth: 1404.300557 meters looking forward 100.000000 meters along route # Maximum depth: 1415.147803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.300557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718766; longitude = -122.008899; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1344.872712; finalDepth = 1354.300557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1988409999999 # Actual altitude: 56.1988409999999 # Commanded vehicle depth:1354.300557 # Seafloor depth:-1408.693197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.458474 meters # Minimum depth: 1394.872712 meters looking forward 100.000000 meters along route # Maximum depth: 1405.672454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.872712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719096; longitude = -122.008802; captureRadius = 10; duration = 84; initialDepth = 1327.576505; finalDepth = 1344.872712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0397039999998 # Actual altitude: 59.0397039999998 # Commanded vehicle depth:1344.872712 # Seafloor depth:-1403.912416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 236.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.458474 meters # Minimum depth: 1377.576505 meters looking forward 100.000000 meters along route # Maximum depth: 1395.791063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.576505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719787; longitude = -122.008600; captureRadius = 10; duration = 84; initialDepth = 1309.504495; finalDepth = 1327.576505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.708488 # Actual altitude: 65.708488 # Commanded vehicle depth:1327.576505 # Seafloor depth:-1393.284993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 262.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.458474 meters # Minimum depth: 1359.504495 meters looking forward 100.000000 meters along route # Maximum depth: 1377.576505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.504495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720448; longitude = -122.008407; captureRadius = 10; duration = 84; initialDepth = 1281.616733; finalDepth = 1309.504495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.555212 # Actual altitude: 66.555212 # Commanded vehicle depth:1309.504495 # Seafloor depth:-1376.059707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.458474 meters # Minimum depth: 1331.616733 meters looking forward 100.000000 meters along route # Maximum depth: 1362.824786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.616733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721169; longitude = -122.008196; captureRadius = 10; duration = 84; initialDepth = 1281.616733; finalDepth = 1281.616733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6009259999998 # Actual altitude: 73.6009259999998 # Commanded vehicle depth:1281.616733 # Seafloor depth:-1355.217659 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 294.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 84.458474 meters # Minimum depth: 1331.616733 meters looking forward 100.000000 meters along route # Maximum depth: 1359.504495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.616733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721830; longitude = -122.008003; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1281.616733; finalDepth = 1281.616733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6009259999998 # Actual altitude: 73.6009259999998 # Commanded vehicle depth:1281.616733 # Seafloor depth:-1331.848958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 294.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.458474 meters # Minimum depth: 1331.616733 meters looking forward 100.000000 meters along route # Maximum depth: 1349.609388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.616733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721930; longitude = -122.008040; captureRadius = 10; duration = 84; initialDepth = 1299.372306; finalDepth = 1281.616733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8861709999999 # Actual altitude: 51.8861709999999 # Commanded vehicle depth:1281.616733 # Seafloor depth:-1333.502904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.458474 meters # Minimum depth: 1349.372306 meters looking forward 100.000000 meters along route # Maximum depth: 1356.633832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.372306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722611; longitude = -122.008293; captureRadius = 10; duration = 84; initialDepth = 1304.679881; finalDepth = 1299.372306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8861709999999 # Actual altitude: 51.8861709999999 # Commanded vehicle depth:1299.372306 # Seafloor depth:-1351.039774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.458474 meters # Minimum depth: 1354.679881 meters looking forward 100.000000 meters along route # Maximum depth: 1357.733201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.679881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723332; longitude = -122.008561; captureRadius = 10; duration = 84; initialDepth = 1300.800813; finalDepth = 1304.679881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9791210000001 # Actual altitude: 51.9791210000001 # Commanded vehicle depth:1304.679881 # Seafloor depth:-1356.659002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.458474 meters # Minimum depth: 1350.800813 meters looking forward 100.000000 meters along route # Maximum depth: 1355.332113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1300.800813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724053; longitude = -122.008829; captureRadius = 10; duration = 84; initialDepth = 1296.283651; finalDepth = 1300.800813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.84292 # Actual altitude: 53.84292 # Commanded vehicle depth:1300.800813 # Seafloor depth:-1354.643733 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 84.458474 meters # Minimum depth: 1346.283651 meters looking forward 100.000000 meters along route # Maximum depth: 1355.332113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.283651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724744; longitude = -122.009086; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1283.712687; finalDepth = 1296.283651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.84292 # Actual altitude: 53.84292 # Commanded vehicle depth:1296.283651 # Seafloor depth:-1349.900391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1333.712687 meters looking forward 100.000000 meters along route # Maximum depth: 1346.332682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.712687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725044; longitude = -122.008899; captureRadius = 10; duration = 84; initialDepth = 1266.380330; finalDepth = 1283.712687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.456747 # Actual altitude: 62.456747 # Commanded vehicle depth:1283.712687 # Seafloor depth:-1346.169434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 249.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1316.380330 meters looking forward 100.000000 meters along route # Maximum depth: 1334.068197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1266.380330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725675; longitude = -122.008507; captureRadius = 10; duration = 84; initialDepth = 1240.191935; finalDepth = 1266.380330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0460820000001 # Actual altitude: 67.0460820000001 # Commanded vehicle depth:1266.38033 # Seafloor depth:-1333.426412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 268.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1290.191935 meters looking forward 100.000000 meters along route # Maximum depth: 1317.297282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1240.191935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726306; longitude = -122.008115; captureRadius = 10; duration = 84; initialDepth = 1217.466146; finalDepth = 1240.191935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.348714 # Actual altitude: 74.348714 # Commanded vehicle depth:1240.191935 # Seafloor depth:-1314.540649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 297.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1267.466146 meters looking forward 100.000000 meters along route # Maximum depth: 1293.290120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.466146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726936; longitude = -122.007722; captureRadius = 10; duration = 84; initialDepth = 1201.510132; finalDepth = 1217.466146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.348714 # Actual altitude: 74.348714 # Commanded vehicle depth:1217.466146 # Seafloor depth:-1286.499084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 297.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1251.510132 meters looking forward 100.000000 meters along route # Maximum depth: 1267.900716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.510132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727567; longitude = -122.007330; captureRadius = 10; duration = 84; initialDepth = 1173.987956; finalDepth = 1201.510132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0329380000001 # Actual altitude: 69.0329380000001 # Commanded vehicle depth:1201.510132 # Seafloor depth:-1266.546712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 276.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1223.987956 meters looking forward 100.000000 meters along route # Maximum depth: 1252.834432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.987956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728198; longitude = -122.006938; captureRadius = 10; duration = 84; initialDepth = 1126.273743; finalDepth = 1173.987956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2223300000001 # Actual altitude: 75.2223300000001 # Commanded vehicle depth:1173.987956 # Seafloor depth:-1249.210286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 300.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1176.273743 meters looking forward 100.000000 meters along route # Maximum depth: 1225.850240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.273743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728829; longitude = -122.006546; captureRadius = 10; duration = 84; initialDepth = 1074.055745; finalDepth = 1126.273743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.827616 # Actual altitude: 93.827616 # Commanded vehicle depth:1126.273743 # Seafloor depth:-1220.101359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.458474 meters # Minimum depth: 1124.055745 meters looking forward 100.000000 meters along route # Maximum depth: 1184.098796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.055745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729490; longitude = -122.006135; captureRadius = 10; duration = 84; initialDepth = 1048.459910; finalDepth = 1074.055745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.066325 # Actual altitude: 100 # Commanded vehicle depth:1074.055745 # Seafloor depth:-1174.122070 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 84.458474 meters # Minimum depth: 1098.459910 meters looking forward 100.000000 meters along route # Maximum depth: 1139.144206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.459910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730150; longitude = -122.005725; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1024.999301; finalDepth = 1048.459910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.066325 # Actual altitude: 100 # Commanded vehicle depth:1048.45991 # Seafloor depth:-1118.974447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.458474 meters # Minimum depth: 1074.999301 meters looking forward 100.000000 meters along route # Maximum depth: 1098.459910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.999301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730317; longitude = -122.005015; captureRadius = 10; duration = 84; initialDepth = 986.110989; finalDepth = 1024.999301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2819179999999 # Actual altitude: 72.2819179999999 # Commanded vehicle depth:1024.999301 # Seafloor depth:-1097.281219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.91; MB_Bottom_Detect_Filter_Max_Range = 289.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.458474 meters # Minimum depth: 1036.110989 meters looking forward 100.000000 meters along route # Maximum depth: 1078.836412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.110989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730526; longitude = -122.004119; captureRadius = 10; duration = 84; initialDepth = 939.849121; finalDepth = 986.110989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9937339999999 # Actual altitude: 84.9937339999999 # Commanded vehicle depth:986.110989 # Seafloor depth:-1071.104723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 339.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.458474 meters # Minimum depth: 989.849121 meters looking forward 100.000000 meters along route # Maximum depth: 1041.916464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.849121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730721; longitude = -122.003286; captureRadius = 10; duration = 84; initialDepth = 883.258596; finalDepth = 939.849121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.225105 # Actual altitude: 95.225105 # Commanded vehicle depth:939.849121 # Seafloor depth:-1035.074226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.458474 meters # Minimum depth: 933.258596 meters looking forward 100.000000 meters along route # Maximum depth: 995.399834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.258596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730919; longitude = -122.002438; captureRadius = 10; duration = 84; initialDepth = 827.218123; finalDepth = 883.258596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.881992 # Actual altitude: 100 # Commanded vehicle depth:883.258596 # Seafloor depth:-985.140588 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 84.458474 meters # Minimum depth: 877.218123 meters looking forward 100.000000 meters along route # Maximum depth: 942.497654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.218123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731112; longitude = -122.001617; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 754.539558; finalDepth = 827.218123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.960018 # Actual altitude: 100 # Commanded vehicle depth:827.218123 # Seafloor depth:-930.178141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 804.539558 meters looking forward 100.000000 meters along route # Maximum depth: 877.218123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.539558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731157; longitude = -122.000758; captureRadius = 10; duration = 84; initialDepth = 739.424386; finalDepth = 754.539558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.766739 # Actual altitude: 100 # Commanded vehicle depth:754.539558 # Seafloor depth:-860.306297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 789.424386 meters looking forward 100.000000 meters along route # Maximum depth: 804.539558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.424386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731204; longitude = -121.999862; captureRadius = 10; duration = 84; initialDepth = 728.186229; finalDepth = 739.424386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.766739 # Actual altitude: 100 # Commanded vehicle depth:739.424386 # Seafloor depth:-803.895673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 778.186229 meters looking forward 100.000000 meters along route # Maximum depth: 789.424386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.186229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731251; longitude = -121.998966; captureRadius = 10; duration = 84; initialDepth = 718.846595; finalDepth = 728.186229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.471287 # Actual altitude: 64.471287 # Commanded vehicle depth:728.186229 # Seafloor depth:-787.869543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 257.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 768.846595 meters looking forward 100.000000 meters along route # Maximum depth: 778.186229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.846595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731298; longitude = -121.998069; captureRadius = 10; duration = 84; initialDepth = 700.383289; finalDepth = 718.846595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.683314 # Actual altitude: 59.683314 # Commanded vehicle depth:718.846595 # Seafloor depth:-777.384644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 238.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 750.383289 meters looking forward 100.000000 meters along route # Maximum depth: 768.846595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.383289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731344; longitude = -121.997173; captureRadius = 10; duration = 84; initialDepth = 680.838462; finalDepth = 700.383289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.141021 # Actual altitude: 66.141021 # Commanded vehicle depth:700.383289 # Seafloor depth:-766.524310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 730.838462 meters looking forward 100.000000 meters along route # Maximum depth: 750.383289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.838462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731391; longitude = -121.996277; captureRadius = 10; duration = 84; initialDepth = 662.504552; finalDepth = 680.838462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.082091 # Actual altitude: 68.082091 # Commanded vehicle depth:680.838462 # Seafloor depth:-748.920553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 272.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 712.504552 meters looking forward 100.000000 meters along route # Maximum depth: 730.838462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.504552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731438; longitude = -121.995381; captureRadius = 10; duration = 84; initialDepth = 642.577466; finalDepth = 662.504552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.082091 # Actual altitude: 68.082091 # Commanded vehicle depth:662.504552 # Seafloor depth:-728.472345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 272.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 692.577466 meters looking forward 100.000000 meters along route # Maximum depth: 712.504552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.577466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731485; longitude = -121.994484; captureRadius = 10; duration = 84; initialDepth = 628.869497; finalDepth = 642.577466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2645150000001 # Actual altitude: 67.2645150000001 # Commanded vehicle depth:642.577466 # Seafloor depth:-709.841981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 269.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 678.869497 meters looking forward 100.000000 meters along route # Maximum depth: 692.577466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.869497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731532; longitude = -121.993588; captureRadius = 10; duration = 84; initialDepth = 615.860430; finalDepth = 628.869497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2645150000001 # Actual altitude: 67.2645150000001 # Commanded vehicle depth:628.869497 # Seafloor depth:-691.072571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 269.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 665.860430 meters looking forward 100.000000 meters along route # Maximum depth: 678.869497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.860430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731579; longitude = -121.992692; captureRadius = 10; duration = 84; initialDepth = 596.006725; finalDepth = 615.860430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.203074 # Actual altitude: 62.203074 # Commanded vehicle depth:615.86043 # Seafloor depth:-677.490923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 646.006725 meters looking forward 100.000000 meters along route # Maximum depth: 666.635978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.006725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731626; longitude = -121.991796; captureRadius = 10; duration = 84; initialDepth = 580.536854; finalDepth = 596.006725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.440095 # Actual altitude: 68.440095 # Commanded vehicle depth:596.006725 # Seafloor depth:-664.446820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 630.536854 meters looking forward 100.000000 meters along route # Maximum depth: 646.006725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.536854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731673; longitude = -121.990899; captureRadius = 10; duration = 84; initialDepth = 564.594320; finalDepth = 580.536854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.440095 # Actual altitude: 68.440095 # Commanded vehicle depth:580.536854 # Seafloor depth:-642.947882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 614.594320 meters looking forward 100.000000 meters along route # Maximum depth: 631.352155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.594320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731720; longitude = -121.990003; captureRadius = 10; duration = 84; initialDepth = 544.073467; finalDepth = 564.594320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.4388739999999 # Actual altitude: 64.4388739999999 # Commanded vehicle depth:564.59432 # Seafloor depth:-629.033194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 594.073467 meters looking forward 100.000000 meters along route # Maximum depth: 614.594320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.073467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731767; longitude = -121.989107; captureRadius = 10; duration = 84; initialDepth = 525.158771; finalDepth = 544.073467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2546339999999 # Actual altitude: 67.2546339999999 # Commanded vehicle depth:544.073467 # Seafloor depth:-611.328101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 269.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 575.158771 meters looking forward 100.000000 meters along route # Maximum depth: 596.557547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.158771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731814; longitude = -121.988211; captureRadius = 10; duration = 84; initialDepth = 505.986568; finalDepth = 525.158771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2546339999999 # Actual altitude: 67.2546339999999 # Commanded vehicle depth:525.158771 # Seafloor depth:-590.472096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 269.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 555.986568 meters looking forward 100.000000 meters along route # Maximum depth: 575.158771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.986568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731861; longitude = -121.987314; captureRadius = 10; duration = 84; initialDepth = 482.000388; finalDepth = 505.986568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.230414 # Actual altitude: 66.230414 # Commanded vehicle depth:505.986568 # Seafloor depth:-572.216982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 264.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.458474 meters # Minimum depth: 532.000388 meters looking forward 100.000000 meters along route # Maximum depth: 560.412861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.000388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731908; longitude = -121.986418; captureRadius = 10; duration = 84; initialDepth = 479.963623; finalDepth = 482.000388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.697681 # Actual altitude: 70.697681 # Commanded vehicle depth:482.000388 # Seafloor depth:-552.698069 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 282.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.458474 meters # Minimum depth: 529.963623 meters looking forward 100.000000 meters along route # Maximum depth: 555.986568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.963623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731953; longitude = -121.985559; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 445.640430; finalDepth = 479.963623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.697681 # Actual altitude: 70.697681 # Commanded vehicle depth:479.963623 # Seafloor depth:-529.963623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 282.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 495.640430 meters looking forward 100.000000 meters along route # Maximum depth: 532.000388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.640430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731948; longitude = -121.985522; captureRadius = 10; duration = 84; initialDepth = 413.796732; finalDepth = 445.640430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.09063 # Actual altitude: 83.09063 # Commanded vehicle depth:445.64043 # Seafloor depth:-528.731060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 463.796732 meters looking forward 100.000000 meters along route # Maximum depth: 495.640430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.796732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731831; longitude = -121.984626; captureRadius = 10; duration = 84; initialDepth = 393.138957; finalDepth = 413.796732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.09063 # Actual altitude: 83.09063 # Commanded vehicle depth:413.796732 # Seafloor depth:-492.387625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 443.138957 meters looking forward 100.000000 meters along route # Maximum depth: 466.849140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.138957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731712; longitude = -121.983720; captureRadius = 10; duration = 84; initialDepth = 366.278247; finalDepth = 393.138957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.590893 # Actual altitude: 78.590893 # Commanded vehicle depth:393.138957 # Seafloor depth:-463.545164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 314.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 416.278247 meters looking forward 100.000000 meters along route # Maximum depth: 445.199571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.278247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731597; longitude = -121.982833; captureRadius = 10; duration = 84; initialDepth = 340.123542; finalDepth = 366.278247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.053126 # Actual altitude: 73.053126 # Commanded vehicle depth:366.278247 # Seafloor depth:-439.331373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 292.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 390.123542 meters looking forward 100.000000 meters along route # Maximum depth: 416.278247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.123542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731480; longitude = -121.981937; captureRadius = 10; duration = 84; initialDepth = 311.120173; finalDepth = 340.123542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.053126 # Actual altitude: 73.053126 # Commanded vehicle depth:340.123542 # Seafloor depth:-412.493501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 292.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 361.120173 meters looking forward 100.000000 meters along route # Maximum depth: 390.123542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.120173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731362; longitude = -121.981041; captureRadius = 10; duration = 84; initialDepth = 285.913468; finalDepth = 311.120173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.282181 # Actual altitude: 74.282181 # Commanded vehicle depth:311.120173 # Seafloor depth:-385.402354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.71; MB_Bottom_Detect_Filter_Max_Range = 297.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 335.913468 meters looking forward 100.000000 meters along route # Maximum depth: 361.691828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.913468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731245; longitude = -121.980145; captureRadius = 10; duration = 84; initialDepth = 258.437702; finalDepth = 285.913468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.282181 # Actual altitude: 74.282181 # Commanded vehicle depth:285.913468 # Seafloor depth:-358.885218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.71; MB_Bottom_Detect_Filter_Max_Range = 297.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 308.437702 meters looking forward 100.000000 meters along route # Maximum depth: 335.913468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.437702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731128; longitude = -121.979248; captureRadius = 10; duration = 84; initialDepth = 234.477567; finalDepth = 258.437702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.550056 # Actual altitude: 73.550056 # Commanded vehicle depth:258.437702 # Seafloor depth:-331.987758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 294.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 284.477567 meters looking forward 100.000000 meters along route # Maximum depth: 311.818706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.477567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731011; longitude = -121.978352; captureRadius = 10; duration = 84; initialDepth = 210.879994; finalDepth = 234.477567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.550056 # Actual altitude: 73.550056 # Commanded vehicle depth:234.477567 # Seafloor depth:-305.651923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 294.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 260.879994 meters looking forward 100.000000 meters along route # Maximum depth: 286.640106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.879994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730901; longitude = -121.977512; captureRadius = 10; duration = 84; initialDepth = 185.257985; finalDepth = 210.879994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.264446 # Actual altitude: 71.264446 # Commanded vehicle depth:210.879994 # Seafloor depth:-282.144440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.51; MB_Bottom_Detect_Filter_Max_Range = 285.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 235.257985 meters looking forward 100.000000 meters along route # Maximum depth: 261.853316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.257985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730792; longitude = -121.976672; captureRadius = 10; duration = 84; initialDepth = 160.473491; finalDepth = 185.257985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.408686 # Actual altitude: 72.408686 # Commanded vehicle depth:185.257985 # Seafloor depth:-257.666671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 210.473491 meters looking forward 100.000000 meters along route # Maximum depth: 235.257985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.473491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730675; longitude = -121.975775; captureRadius = 10; duration = 84; initialDepth = 131.063298; finalDepth = 160.473491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.408686 # Actual altitude: 72.408686 # Commanded vehicle depth:160.473491 # Seafloor depth:-231.674353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 181.063298 meters looking forward 100.000000 meters along route # Maximum depth: 210.473491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.063298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730558; longitude = -121.974879; captureRadius = 10; duration = 84; initialDepth = 108.657683; finalDepth = 131.063298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.316794 # Actual altitude: 75.316794 # Commanded vehicle depth:131.063298 # Seafloor depth:-206.380092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 301.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 158.657683 meters looking forward 100.000000 meters along route # Maximum depth: 182.291745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.657683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730440; longitude = -121.973983; captureRadius = 10; duration = 84; initialDepth = 93.565248; finalDepth = 108.657683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.316794 # Actual altitude: 75.316794 # Commanded vehicle depth:108.657683 # Seafloor depth:-178.260794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 301.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 143.565248 meters looking forward 100.000000 meters along route # Maximum depth: 158.657683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.565248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730323; longitude = -121.973087; captureRadius = 10; duration = 84; initialDepth = 81.162183; finalDepth = 93.565248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.603111 # Actual altitude: 69.603111 # Commanded vehicle depth:93.565248 # Seafloor depth:-156.302342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 278.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 131.162183 meters looking forward 100.000000 meters along route # Maximum depth: 143.565248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.162183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730206; longitude = -121.972191; captureRadius = 10; duration = 84; initialDepth = 75.562984; finalDepth = 81.162183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.737094 # Actual altitude: 62.737094 # Commanded vehicle depth:81.162183 # Seafloor depth:-141.512755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 250.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 125.562984 meters looking forward 100.000000 meters along route # Maximum depth: 132.274712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.562984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730089; longitude = -121.971294; captureRadius = 10; duration = 84; initialDepth = 71.609613; finalDepth = 75.562984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.350572 # Actual altitude: 60.350572 # Commanded vehicle depth:75.562984 # Seafloor depth:-131.061793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 241.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.458474 meters # Minimum depth: 121.609613 meters looking forward 100.000000 meters along route # Maximum depth: 125.562984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.609613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729972; longitude = -121.970398; captureRadius = 10; duration = 84; initialDepth = 71.607015; finalDepth = 71.609613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.498809 # Actual altitude: 55.498809 # Commanded vehicle depth:71.609613 # Seafloor depth:-124.535710 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 222.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.00; 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 # Commanded altitude: 52.926097 # Sonar parameter altitude: 52.926097 # Commanded vehicle depth:71.607015 # Seafloor depth:-121.607015 # 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 = 211.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 84.458474 meters # Minimum depth: 121.607015 meters looking forward 100.000000 meters along route # Maximum depth: 125.562984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1786.119331 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.607015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729850; longitude = -121.969465; captureRadius = 10; duration = 600; initialDepth = 71.607015; finalDepth = 71.607015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 278.607465; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 278.607465; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################