# 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: 2010Mont_WaterColumnTest_2v1.rte # Mission File: 2010Mont_WaterColumnTest_2v1.cfg # Distance: 7626.483691 (m) # Estimated Time: 7636 (s) 2.121 (hr) # Abort Time: 9927 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2002 (s) # Way Points: 18 # Route Points: 95 # 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 # Multibeam beam data collection enabled (100 m range) # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control 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: 20 (m) # Maximum Vehicle Depth: 1644.110807 (m) # Abort Vehicle Depth: 1669.110807 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (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 -122.007000 36.643936 -112.161663 0.000000 3 # 1 -122.009389 36.644086 -119.206980 214.218651 1 # 2 -122.011741 36.644176 -123.834124 424.718777 1 # 3 -122.014391 36.644207 -130.380978 661.647134 1 # 4 -122.017116 36.644357 -147.545670 905.822619 1 # 5 -122.019991 36.644207 -189.376720 1163.378014 1 # 6 -122.029510 36.642854 -399.491600 2027.494141 1 # 7 -122.035483 36.642464 -545.496323 2563.223945 1 # 8 -122.044853 36.642584 -884.873245 3400.998078 1 # 9 -122.049034 36.642824 -1000.459381 3775.720895 1 # 10 -122.054485 36.643756 -1125.316376 4273.876542 1 # 11 -122.058292 36.644928 -1183.354370 4638.199154 1 # 12 -122.063369 36.645619 -1320.013489 5098.487989 1 # 13 -122.069753 36.645799 -1438.377441 5669.533949 1 # 14 -122.076435 36.645919 -1589.810425 6267.016783 1 # 15 -122.077369 36.650757 -1615.181061 6810.180352 1 # 16 -122.077033 36.654182 -1643.221771 7191.321518 1 # 17 -122.074531 36.657547 -1676.969452 7626.483691 4 # # A total of 95 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9927; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1644.110807; abortDepth = 1669.110807; minAltitude = 50.000000; abortAltitude = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2002; 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 17 # Segment length 112.643851 meters # Minimum depth: 1669.110807 meters looking forward 50.000000 meters along route # Maximum depth: 1676.969452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.110807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657547; longitude = -122.074531; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 1612.375268; finalDepth = 1619.110807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.858645 # Actual altitude: 57.858645 # Commanded vehicle depth: 1619.110807 # Seafloor depth: -1676.969452 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 81.598520 meters # Minimum depth: 1662.375268 meters looking forward 50.000000 meters along route # Maximum depth: 1668.843749 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.375268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656676; longitude = -122.075179; captureRadius = 10; duration = 163; initialDepth = 1605.638700; finalDepth = 1612.375268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.858645 # Actual altitude: 57.858645 # Commanded vehicle depth: 1612.375268 # Seafloor depth: -1668.843749 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 81.598683 meters # Minimum depth: 1655.638700 meters looking forward 50.000000 meters along route # Maximum depth: 1661.534275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.638700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656045; longitude = -122.075648; captureRadius = 10; duration = 163; initialDepth = 1601.783918; finalDepth = 1605.638700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4684809999999 # Actual altitude: 56.4684809999999 # Commanded vehicle depth: 1605.6387 # Seafloor depth: -1661.534275 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 81.598845 meters # Minimum depth: 1651.783918 meters looking forward 50.000000 meters along route # Maximum depth: 1660.558558 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.783918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655414; longitude = -122.076117; captureRadius = 10; duration = 163; initialDepth = 1593.231990; finalDepth = 1601.783918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7746399999999 # Actual altitude: 58.7746399999999 # Commanded vehicle depth: 1601.783918 # Seafloor depth: -1660.558558 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 77.722274 meters # Minimum depth: 1643.231990 meters looking forward 50.000000 meters along route # Maximum depth: 1651.805781 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.231990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654783; longitude = -122.076586; captureRadius = 10; duration = 155; initialDepth = 1590.346338; finalDepth = 1593.231990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.7746399999999 # Actual altitude: 58.7746399999999 # Commanded vehicle depth: 1593.23199 # Seafloor depth: -1651.805781 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 63.521972 meters # Minimum depth: 1640.346338 meters looking forward 50.000000 meters along route # Maximum depth: 1644.301995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.346338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654182; longitude = -122.077033; captureRadius = 10; duration = 127; # abortOnTimeout = True; initialDepth = 1581.466220; finalDepth = 1590.346338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.573791 # Actual altitude: 58.573791 # Commanded vehicle depth: 1590.346338 # Seafloor depth: -1643.221771 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 80.247989 meters # Minimum depth: 1631.466220 meters looking forward 50.000000 meters along route # Maximum depth: 1638.435032 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.466220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653611; longitude = -122.077089; captureRadius = 10; duration = 160; initialDepth = 1576.498737; finalDepth = 1581.466220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9688120000001 # Actual altitude: 56.9688120000001 # Commanded vehicle depth: 1581.46622 # Seafloor depth: -1638.435032 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.247983 meters # Minimum depth: 1626.498737 meters looking forward 50.000000 meters along route # Maximum depth: 1629.740571 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.498737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652890; longitude = -122.077160; captureRadius = 10; duration = 160; initialDepth = 1571.429065; finalDepth = 1576.498737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9688120000001 # Actual altitude: 56.9688120000001 # Commanded vehicle depth: 1576.498737 # Seafloor depth: -1629.740571 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.247977 meters # Minimum depth: 1621.429065 meters looking forward 50.000000 meters along route # Maximum depth: 1625.546328 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.429065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652169; longitude = -122.077230; captureRadius = 10; duration = 160; initialDepth = 1565.738672; finalDepth = 1571.429065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1172629999999 # Actual altitude: 54.1172629999999 # Commanded vehicle depth: 1571.429065 # Seafloor depth: -1625.546328 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 76.875245 meters # Minimum depth: 1615.738672 meters looking forward 50.000000 meters along route # Maximum depth: 1620.042559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.738672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.651448; longitude = -122.077301; captureRadius = 10; duration = 153; initialDepth = 1557.721073; finalDepth = 1565.738672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.257059 # Actual altitude: 54.257059 # Commanded vehicle depth: 1565.738672 # Seafloor depth: -1619.995731 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 134.963574 meters # Minimum depth: 1607.721073 meters looking forward 50.000000 meters along route # Maximum depth: 1615.181061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1557.721073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.650757; longitude = -122.077369; captureRadius = 10; duration = 269; # abortOnTimeout = True; initialDepth = 1553.236542; finalDepth = 1557.721073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4599880000001 # Actual altitude: 57.4599880000001 # Commanded vehicle depth: 1557.721073 # Seafloor depth: -1615.181061 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 80.960568 meters # Minimum depth: 1603.236542 meters looking forward 50.000000 meters along route # Maximum depth: 1606.760706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.236542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.649555; longitude = -122.077137; captureRadius = 10; duration = 161; initialDepth = 1549.821158; finalDepth = 1553.236542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4599880000001 # Actual altitude: 57.4599880000001 # Commanded vehicle depth: 1553.236542 # Seafloor depth: -1606.760706 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 80.960577 meters # Minimum depth: 1599.821158 meters looking forward 50.000000 meters along route # Maximum depth: 1602.203053 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.821158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.648834; longitude = -122.076998; captureRadius = 10; duration = 161; initialDepth = 1545.873793; finalDepth = 1549.821158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5241639999999 # Actual altitude: 53.5241639999999 # Commanded vehicle depth: 1549.821158 # Seafloor depth: -1602.203053 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 80.960589 meters # Minimum depth: 1595.873793 meters looking forward 50.000000 meters along route # Maximum depth: 1599.507809 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.873793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.648113; longitude = -122.076858; captureRadius = 10; duration = 161; initialDepth = 1541.312483; finalDepth = 1545.873793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.634016 # Actual altitude: 53.634016 # Commanded vehicle depth: 1545.873793 # Seafloor depth: -1599.507809 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 80.960598 meters # Minimum depth: 1591.312483 meters looking forward 50.000000 meters along route # Maximum depth: 1595.697780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.312483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.647392; longitude = -122.076719; captureRadius = 10; duration = 161; initialDepth = 1539.172007; finalDepth = 1541.312483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.385297 # Actual altitude: 54.385297 # Commanded vehicle depth: 1541.312483 # Seafloor depth: -1595.697780 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 84.357663 meters # Minimum depth: 1589.172007 meters looking forward 50.000000 meters along route # Maximum depth: 1590.268673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.172007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.646670; longitude = -122.076580; captureRadius = 10; duration = 168; initialDepth = 1525.467763; finalDepth = 1539.172007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.385297 # Actual altitude: 54.385297 # Commanded vehicle depth: 1539.172007 # Seafloor depth: -1590.268673 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 113.464758 meters # Minimum depth: 1575.467763 meters looking forward 50.000000 meters along route # Maximum depth: 1589.810425 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.467763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645919; longitude = -122.076435; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 1511.951101; finalDepth = 1525.467763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3426619999998 # Actual altitude: 64.3426619999998 # Commanded vehicle depth: 1525.467763 # Seafloor depth: -1589.810425 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 80.112261 meters # Minimum depth: 1561.951101 meters looking forward 50.000000 meters along route # Maximum depth: 1571.593345 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.951101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645896; longitude = -122.075166; captureRadius = 10; duration = 160; initialDepth = 1485.696463; finalDepth = 1511.951101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3426619999998 # Actual altitude: 64.3426619999998 # Commanded vehicle depth: 1511.951101 # Seafloor depth: -1571.593345 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.112290 meters # Minimum depth: 1535.696463 meters looking forward 50.000000 meters along route # Maximum depth: 1562.704199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.696463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645880; longitude = -122.074270; captureRadius = 10; duration = 160; initialDepth = 1446.744228; finalDepth = 1485.696463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.007736 # Actual altitude: 77.007736 # Commanded vehicle depth: 1485.696463 # Seafloor depth: -1562.704199 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.80; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.112321 meters # Minimum depth: 1496.744228 meters looking forward 50.000000 meters along route # Maximum depth: 1526.844523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.744228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645864; longitude = -122.073374; captureRadius = 10; duration = 160; initialDepth = 1431.632605; finalDepth = 1446.744228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.100295 # Actual altitude: 80.100295 # Commanded vehicle depth: 1446.744228 # Seafloor depth: -1526.844523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.112350 meters # Minimum depth: 1481.632605 meters looking forward 50.000000 meters along route # Maximum depth: 1496.651531 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.632605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645848; longitude = -122.072478; captureRadius = 10; duration = 160; initialDepth = 1420.331481; finalDepth = 1431.632605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.100295 # Actual altitude: 80.100295 # Commanded vehicle depth: 1431.632605 # Seafloor depth: -1496.651531 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.112381 meters # Minimum depth: 1470.331481 meters looking forward 50.000000 meters along route # Maximum depth: 1479.729747 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.331481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645832; longitude = -122.071582; captureRadius = 10; duration = 160; initialDepth = 1390.857943; finalDepth = 1420.331481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.018926 # Actual altitude: 65.018926 # Commanded vehicle depth: 1420.331481 # Seafloor depth: -1479.729747 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 83.456473 meters # Minimum depth: 1440.857943 meters looking forward 50.000000 meters along route # Maximum depth: 1468.397060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.857943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645816; longitude = -122.070686; captureRadius = 10; duration = 166; initialDepth = 1362.289036; finalDepth = 1390.857943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.539117 # Actual altitude: 77.539117 # Commanded vehicle depth: 1390.857943 # Seafloor depth: -1468.397060 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 86.813989 meters # Minimum depth: 1412.289036 meters looking forward 50.000000 meters along route # Maximum depth: 1438.377441 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.289036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645799; longitude = -122.069753; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 1350.147392; finalDepth = 1362.289036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.539117 # Actual altitude: 77.539117 # Commanded vehicle depth: 1362.289036 # Seafloor depth: -1438.377441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 80.141614 meters # Minimum depth: 1400.147392 meters looking forward 50.000000 meters along route # Maximum depth: 1410.570047 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.147392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645772; longitude = -122.068782; captureRadius = 10; duration = 160; initialDepth = 1350.184613; finalDepth = 1350.147392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0884050000002 # Actual altitude: 76.0884050000002 # Commanded vehicle depth: 1350.147392 # Seafloor depth: -1410.570047 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.141653 meters # Minimum depth: 1400.184613 meters looking forward 50.000000 meters along route # Maximum depth: 1403.884689 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.184613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645746; longitude = -122.067887; captureRadius = 10; duration = 160; initialDepth = 1355.072469; finalDepth = 1350.184613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4226549999998 # Actual altitude: 60.4226549999998 # Commanded vehicle depth: 1350.184613 # Seafloor depth: -1400.184613 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.17; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.141692 meters # Minimum depth: 1405.072469 meters looking forward 50.000000 meters along route # Maximum depth: 1413.944616 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.072469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645721; longitude = -122.066991; captureRadius = 10; duration = 160; initialDepth = 1340.162525; finalDepth = 1355.072469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1355.072469 # Seafloor depth: -1405.072469 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.141732 meters # Minimum depth: 1390.162525 meters looking forward 50.000000 meters along route # Maximum depth: 1413.302754 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1340.162525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645696; longitude = -122.066095; captureRadius = 10; duration = 160; initialDepth = 1290.114708; finalDepth = 1340.162525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1402290000001 # Actual altitude: 73.1402290000001 # Commanded vehicle depth: 1340.162525 # Seafloor depth: -1413.302754 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.141771 meters # Minimum depth: 1340.114708 meters looking forward 50.000000 meters along route # Maximum depth: 1382.832706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1290.114708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645671; longitude = -122.065199; captureRadius = 10; duration = 160; initialDepth = 1271.571609; finalDepth = 1290.114708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.7179979999999 # Actual altitude: 92.7179979999999 # Commanded vehicle depth: 1290.114708 # Seafloor depth: -1382.832706 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 83.523509 meters # Minimum depth: 1321.571609 meters looking forward 50.000000 meters along route # Maximum depth: 1337.764349 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.571609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645645; longitude = -122.064303; captureRadius = 10; duration = 167; initialDepth = 1253.706441; finalDepth = 1271.571609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 92.7179979999999 # Actual altitude: 92.7179979999999 # Commanded vehicle depth: 1271.571609 # Seafloor depth: -1337.764349 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 57.492941 meters # Minimum depth: 1303.706441 meters looking forward 50.000000 meters along route # Maximum depth: 1320.013489 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.706441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645619; longitude = -122.063369; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 1228.026689; finalDepth = 1253.706441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3070479999999 # Actual altitude: 66.3070479999999 # Commanded vehicle depth: 1253.706441 # Seafloor depth: -1320.013489 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 82.780655 meters # Minimum depth: 1278.026689 meters looking forward 50.000000 meters along route # Maximum depth: 1300.573886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.026689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645533; longitude = -122.062735; captureRadius = 10; duration = 165; initialDepth = 1223.385928; finalDepth = 1228.026689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.5471969999999 # Actual altitude: 72.5471969999999 # Commanded vehicle depth: 1228.026689 # Seafloor depth: -1300.573886 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.674226 meters # Minimum depth: 1273.385928 meters looking forward 50.000000 meters along route # Maximum depth: 1277.921524 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.385928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645408; longitude = -122.061822; captureRadius = 10; duration = 159; initialDepth = 1225.117029; finalDepth = 1223.385928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.5471969999999 # Actual altitude: 72.5471969999999 # Commanded vehicle depth: 1223.385928 # Seafloor depth: -1277.921524 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 81.227647 meters # Minimum depth: 1275.117029 meters looking forward 50.000000 meters along route # Maximum depth: 1281.831595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.117029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645289; longitude = -122.060943; captureRadius = 10; duration = 162; initialDepth = 1177.048770; finalDepth = 1225.117029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5355960000002 # Actual altitude: 54.5355960000002 # Commanded vehicle depth: 1225.117029 # Seafloor depth: -1275.117029 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 81.227785 meters # Minimum depth: 1227.048770 meters looking forward 50.000000 meters along route # Maximum depth: 1278.039877 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.048770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645167; longitude = -122.060047; captureRadius = 10; duration = 162; initialDepth = 1133.905267; finalDepth = 1177.048770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.991107 # Actual altitude: 100 # Commanded vehicle depth: 1177.04877 # Seafloor depth: -1278.039877 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 77.885581 meters # Minimum depth: 1183.905267 meters looking forward 50.000000 meters along route # Maximum depth: 1225.662488 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.905267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.645045; longitude = -122.059151; captureRadius = 10; duration = 155; initialDepth = 1126.995600; finalDepth = 1133.905267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 100.991107 # Actual altitude: 100 # Commanded vehicle depth: 1133.905267 # Seafloor depth: -1225.662488 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 57.115178 meters # Minimum depth: 1176.995600 meters looking forward 50.000000 meters along route # Maximum depth: 1183.354370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.995600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644928; longitude = -122.058292; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 1110.770551; finalDepth = 1126.995600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.7572209999998 # Actual altitude: 91.7572209999998 # Commanded vehicle depth: 1126.9956 # Seafloor depth: -1183.354370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.70; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.022265 meters # Minimum depth: 1160.770551 meters looking forward 50.000000 meters along route # Maximum depth: 1175.274842 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.770551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644744; longitude = -122.057695; captureRadius = 10; duration = 150; initialDepth = 1097.397805; finalDepth = 1110.770551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.504291 # Actual altitude: 64.504291 # Commanded vehicle depth: 1110.770551 # Seafloor depth: -1175.274842 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 75.022480 meters # Minimum depth: 1147.397805 meters looking forward 50.000000 meters along route # Maximum depth: 1160.409494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.397805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644503; longitude = -122.056911; captureRadius = 10; duration = 150; initialDepth = 1091.647952; finalDepth = 1097.397805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.504291 # Actual altitude: 64.504291 # Commanded vehicle depth: 1097.397805 # Seafloor depth: -1160.409494 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 75.022694 meters # Minimum depth: 1141.647952 meters looking forward 50.000000 meters along route # Maximum depth: 1146.495100 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.647952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644262; longitude = -122.056127; captureRadius = 10; duration = 150; initialDepth = 1077.426438; finalDepth = 1091.647952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0116889999999 # Actual altitude: 63.0116889999999 # Commanded vehicle depth: 1091.647952 # Seafloor depth: -1146.495100 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 82.139995 meters # Minimum depth: 1127.426438 meters looking forward 50.000000 meters along route # Maximum depth: 1140.355740 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.426438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644020; longitude = -122.055343; captureRadius = 10; duration = 164; initialDepth = 1055.829832; finalDepth = 1077.426438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.929302 # Actual altitude: 62.929302 # Commanded vehicle depth: 1077.426438 # Seafloor depth: -1140.355740 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 95.550988 meters # Minimum depth: 1105.829832 meters looking forward 50.000000 meters along route # Maximum depth: 1125.316376 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.829832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643756; longitude = -122.054485; captureRadius = 10; duration = 191; # abortOnTimeout = True; initialDepth = 1028.614329; finalDepth = 1055.829832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4865440000001 # Actual altitude: 69.4865440000001 # Commanded vehicle depth: 1055.829832 # Seafloor depth: -1125.316376 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.79; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 81.878139 meters # Minimum depth: 1078.614329 meters looking forward 50.000000 meters along route # Maximum depth: 1104.171545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.614329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643577; longitude = -122.053439; captureRadius = 10; duration = 163; initialDepth = 1007.694018; finalDepth = 1028.614329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5572159999999 # Actual altitude: 75.5572159999999 # Commanded vehicle depth: 1028.614329 # Seafloor depth: -1104.171545 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.878309 meters # Minimum depth: 1057.694018 meters looking forward 50.000000 meters along route # Maximum depth: 1078.408442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.694018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643424; longitude = -122.052543; captureRadius = 10; duration = 163; initialDepth = 983.775271; finalDepth = 1007.694018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5572159999999 # Actual altitude: 75.5572159999999 # Commanded vehicle depth: 1007.694018 # Seafloor depth: -1078.408442 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.878476 meters # Minimum depth: 1033.775271 meters looking forward 50.000000 meters along route # Maximum depth: 1054.417616 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.775271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643271; longitude = -122.051648; captureRadius = 10; duration = 163; initialDepth = 964.005503; finalDepth = 983.775271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.714424 # Actual altitude: 70.714424 # Commanded vehicle depth: 983.775271 # Seafloor depth: -1054.417616 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.878646 meters # Minimum depth: 1014.005503 meters looking forward 50.000000 meters along route # Maximum depth: 1030.107551 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.005503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643118; longitude = -122.050752; captureRadius = 10; duration = 163; initialDepth = 951.764582; finalDepth = 964.005503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.642345 # Actual altitude: 70.642345 # Commanded vehicle depth: 964.005503 # Seafloor depth: -1030.107551 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 75.091089 meters # Minimum depth: 1001.764582 meters looking forward 50.000000 meters along route # Maximum depth: 1012.784159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.764582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642964; longitude = -122.049856; captureRadius = 10; duration = 150; initialDepth = 940.760856; finalDepth = 951.764582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.1020480000001 # Actual altitude: 66.1020480000001 # Commanded vehicle depth: 951.764582 # Seafloor depth: -1012.784159 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 56.843555 meters # Minimum depth: 990.760856 meters looking forward 50.000000 meters along route # Maximum depth: 1000.459381 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.760856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642824; longitude = -122.049034; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 919.846145; finalDepth = 940.760856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.019577 # Actual altitude: 61.019577 # Commanded vehicle depth: 940.760856 # Seafloor depth: -1000.459381 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 80.298954 meters # Minimum depth: 969.846145 meters looking forward 50.000000 meters along route # Maximum depth: 990.465644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.846145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642788; longitude = -122.048400; captureRadius = 10; duration = 160; initialDepth = 890.966747; finalDepth = 919.846145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.619499 # Actual altitude: 70.619499 # Commanded vehicle depth: 919.846145 # Seafloor depth: -990.465644 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.25; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 80.299020 meters # Minimum depth: 940.966747 meters looking forward 50.000000 meters along route # Maximum depth: 964.975895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.966747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642736; longitude = -122.047504; captureRadius = 10; duration = 160; initialDepth = 861.731761; finalDepth = 890.966747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.009148 # Actual altitude: 74.009148 # Commanded vehicle depth: 890.966747 # Seafloor depth: -964.975895 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.60; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 80.299086 meters # Minimum depth: 911.731761 meters looking forward 50.000000 meters along route # Maximum depth: 934.643913 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.731761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642685; longitude = -122.046608; captureRadius = 10; duration = 160; initialDepth = 836.638484; finalDepth = 861.731761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.009148 # Actual altitude: 74.009148 # Commanded vehicle depth: 861.731761 # Seafloor depth: -934.643913 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.60; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 76.982202 meters # Minimum depth: 886.638484 meters looking forward 50.000000 meters along route # Maximum depth: 907.250918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.638484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642633; longitude = -122.045712; captureRadius = 10; duration = 153; initialDepth = 801.236846; finalDepth = 836.638484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.912152 # Actual altitude: 72.912152 # Commanded vehicle depth: 836.638484 # Seafloor depth: -907.250918 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.16; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 113.455246 meters # Minimum depth: 851.236846 meters looking forward 50.000000 meters along route # Maximum depth: 884.873245 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.236846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642584; longitude = -122.044853; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 777.611394; finalDepth = 801.236846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.636399 # Actual altitude: 83.636399 # Commanded vehicle depth: 801.236846 # Seafloor depth: -884.873245 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 80.106401 meters # Minimum depth: 827.611394 meters looking forward 50.000000 meters along route # Maximum depth: 847.840762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.611394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642568; longitude = -122.043584; captureRadius = 10; duration = 160; initialDepth = 754.383261; finalDepth = 777.611394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.636399 # Actual altitude: 83.636399 # Commanded vehicle depth: 777.611394 # Seafloor depth: -847.840762 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106426 meters # Minimum depth: 804.383261 meters looking forward 50.000000 meters along route # Maximum depth: 825.244808 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.383261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642556; longitude = -122.042688; captureRadius = 10; duration = 160; initialDepth = 732.420692; finalDepth = 754.383261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8615470000001 # Actual altitude: 70.8615470000001 # Commanded vehicle depth: 754.383261 # Seafloor depth: -825.244808 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.34; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106452 meters # Minimum depth: 782.420692 meters looking forward 50.000000 meters along route # Maximum depth: 804.339140 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.420692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642545; longitude = -122.041792; captureRadius = 10; duration = 160; initialDepth = 700.737571; finalDepth = 732.420692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.918448 # Actual altitude: 71.918448 # Commanded vehicle depth: 732.420692 # Seafloor depth: -804.339140 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106477 meters # Minimum depth: 750.737571 meters looking forward 50.000000 meters along route # Maximum depth: 780.294442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.737571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642533; longitude = -122.040896; captureRadius = 10; duration = 160; initialDepth = 672.304865; finalDepth = 700.737571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.556871 # Actual altitude: 79.556871 # Commanded vehicle depth: 700.737571 # Seafloor depth: -780.294442 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106503 meters # Minimum depth: 722.304865 meters looking forward 50.000000 meters along route # Maximum depth: 748.460522 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.304865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642522; longitude = -122.040000; captureRadius = 10; duration = 160; initialDepth = 643.608546; finalDepth = 672.304865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.556871 # Actual altitude: 79.556871 # Commanded vehicle depth: 672.304865 # Seafloor depth: -748.460522 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106528 meters # Minimum depth: 693.608546 meters looking forward 50.000000 meters along route # Maximum depth: 719.617185 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.608546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642510; longitude = -122.039104; captureRadius = 10; duration = 160; initialDepth = 611.468989; finalDepth = 643.608546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.155657 # Actual altitude: 76.155657 # Commanded vehicle depth: 643.608546 # Seafloor depth: -719.617185 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106553 meters # Minimum depth: 661.468989 meters looking forward 50.000000 meters along route # Maximum depth: 689.502839 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.468989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642499; longitude = -122.038208; captureRadius = 10; duration = 160; initialDepth = 577.414341; finalDepth = 611.468989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.03385 # Actual altitude: 78.03385 # Commanded vehicle depth: 611.468989 # Seafloor depth: -689.502839 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.106579 meters # Minimum depth: 627.414341 meters looking forward 50.000000 meters along route # Maximum depth: 657.527804 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.414341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642487; longitude = -122.037312; captureRadius = 10; duration = 160; initialDepth = 496.654636; finalDepth = 577.414341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1134629999999 # Actual altitude: 80.1134629999999 # Commanded vehicle depth: 577.414341 # Seafloor depth: -657.527804 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.466968 meters # Minimum depth: 546.654636 meters looking forward 50.000000 meters along route # Maximum depth: 613.194033 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.654636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642476; longitude = -122.036417; captureRadius = 10; duration = 166; initialDepth = 483.357240; finalDepth = 496.654636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 116.539397 # Actual altitude: 100 # Commanded vehicle depth: 496.654636 # Seafloor depth: -613.194033 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 56.898279 meters # Minimum depth: 533.357240 meters looking forward 50.000000 meters along route # Maximum depth: 545.496323 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.357240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642464; longitude = -122.035483; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 458.192871; finalDepth = 483.357240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.539397 # Actual altitude: 100 # Commanded vehicle depth: 483.35724 # Seafloor depth: -545.496323 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 80.358931 meters # Minimum depth: 508.192871 meters looking forward 50.000000 meters along route # Maximum depth: 530.936485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.192871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642505; longitude = -122.034849; captureRadius = 10; duration = 160; initialDepth = 436.765525; finalDepth = 458.192871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7436139999999 # Actual altitude: 72.7436139999999 # Commanded vehicle depth: 458.192871 # Seafloor depth: -530.936485 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 80.358884 meters # Minimum depth: 486.765525 meters looking forward 50.000000 meters along route # Maximum depth: 505.659919 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.765525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642564; longitude = -122.033953; captureRadius = 10; duration = 160; initialDepth = 413.704614; finalDepth = 436.765525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7436139999999 # Actual altitude: 72.7436139999999 # Commanded vehicle depth: 436.765525 # Seafloor depth: -505.659919 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 80.358837 meters # Minimum depth: 463.704614 meters looking forward 50.000000 meters along route # Maximum depth: 483.209228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.704614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642622; longitude = -122.033057; captureRadius = 10; duration = 160; initialDepth = 393.021227; finalDepth = 413.704614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.504614 # Actual altitude: 69.504614 # Commanded vehicle depth: 413.704614 # Seafloor depth: -483.209228 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 80.358791 meters # Minimum depth: 443.021227 meters looking forward 50.000000 meters along route # Maximum depth: 461.233882 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.021227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642681; longitude = -122.032161; captureRadius = 10; duration = 160; initialDepth = 370.486928; finalDepth = 393.021227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.504614 # Actual altitude: 69.504614 # Commanded vehicle depth: 393.021227 # Seafloor depth: -461.233882 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 80.358744 meters # Minimum depth: 420.486928 meters looking forward 50.000000 meters along route # Maximum depth: 440.043863 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.486928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642739; longitude = -122.031265; captureRadius = 10; duration = 160; initialDepth = 350.234084; finalDepth = 370.486928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.556935 # Actual altitude: 69.556935 # Commanded vehicle depth: 370.486928 # Seafloor depth: -440.043863 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.82; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 77.037338 meters # Minimum depth: 400.234084 meters looking forward 50.000000 meters along route # Maximum depth: 419.639275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.234084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642798; longitude = -122.030369; captureRadius = 10; duration = 154; initialDepth = 335.045943; finalDepth = 350.234084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.556935 # Actual altitude: 69.556935 # Commanded vehicle depth: 350.234084 # Seafloor depth: -419.639275 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.82; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 64.360988 meters # Minimum depth: 385.045943 meters looking forward 50.000000 meters along route # Maximum depth: 399.491600 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.045943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642854; longitude = -122.029510; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 317.207437; finalDepth = 335.045943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.405191 # Actual altitude: 69.405191 # Commanded vehicle depth: 335.045943 # Seafloor depth: -399.491600 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 81.332400 meters # Minimum depth: 367.207437 meters looking forward 50.000000 meters along route # Maximum depth: 383.409996 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.207437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.642955; longitude = -122.028801; captureRadius = 10; duration = 162; initialDepth = 296.567569; finalDepth = 317.207437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.202559 # Actual altitude: 66.202559 # Commanded vehicle depth: 317.207437 # Seafloor depth: -383.409996 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.332285 meters # Minimum depth: 346.567569 meters looking forward 50.000000 meters along route # Maximum depth: 364.154801 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.567569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643082; longitude = -122.027905; captureRadius = 10; duration = 162; initialDepth = 278.594555; finalDepth = 296.567569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.587232 # Actual altitude: 67.587232 # Commanded vehicle depth: 296.567569 # Seafloor depth: -364.154801 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.332169 meters # Minimum depth: 328.594555 meters looking forward 50.000000 meters along route # Maximum depth: 344.410847 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.594555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643209; longitude = -122.027009; captureRadius = 10; duration = 162; initialDepth = 263.301564; finalDepth = 278.594555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.587232 # Actual altitude: 67.587232 # Commanded vehicle depth: 278.594555 # Seafloor depth: -344.410847 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.332053 meters # Minimum depth: 313.301564 meters looking forward 50.000000 meters along route # Maximum depth: 328.297795 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.301564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643337; longitude = -122.026113; captureRadius = 10; duration = 162; initialDepth = 243.785877; finalDepth = 263.301564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.816292 # Actual altitude: 65.816292 # Commanded vehicle depth: 263.301564 # Seafloor depth: -328.297795 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.331938 meters # Minimum depth: 293.785877 meters looking forward 50.000000 meters along route # Maximum depth: 310.012719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.785877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643464; longitude = -122.025217; captureRadius = 10; duration = 162; initialDepth = 224.839032; finalDepth = 243.785877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.226842 # Actual altitude: 66.226842 # Commanded vehicle depth: 243.785877 # Seafloor depth: -310.012719 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.331821 meters # Minimum depth: 274.839032 meters looking forward 50.000000 meters along route # Maximum depth: 292.651559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.839032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643592; longitude = -122.024321; captureRadius = 10; duration = 162; initialDepth = 203.540061; finalDepth = 224.839032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.812527 # Actual altitude: 67.812527 # Commanded vehicle depth: 224.839032 # Seafloor depth: -292.651559 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.331706 meters # Minimum depth: 253.540061 meters looking forward 50.000000 meters along route # Maximum depth: 271.701873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.540061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643719; longitude = -122.023425; captureRadius = 10; duration = 162; initialDepth = 182.763297; finalDepth = 203.540061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.161812 # Actual altitude: 68.161812 # Commanded vehicle depth: 203.540061 # Seafloor depth: -271.701873 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 76.622801 meters # Minimum depth: 232.763297 meters looking forward 50.000000 meters along route # Maximum depth: 250.871772 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.763297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643846; longitude = -122.022529; captureRadius = 10; duration = 153; initialDepth = 163.413985; finalDepth = 182.763297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.161812 # Actual altitude: 68.161812 # Commanded vehicle depth: 182.763297 # Seafloor depth: -250.871772 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 75.873835 meters # Minimum depth: 213.413985 meters looking forward 50.000000 meters along route # Maximum depth: 230.952730 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.413985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643966; longitude = -122.021685; captureRadius = 10; duration = 151; initialDepth = 140.531582; finalDepth = 163.413985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.108475 # Actual altitude: 68.108475 # Commanded vehicle depth: 163.413985 # Seafloor depth: -230.952730 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 77.934131 meters # Minimum depth: 190.531582 meters looking forward 50.000000 meters along route # Maximum depth: 209.246471 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.531582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644085; longitude = -122.020850; captureRadius = 10; duration = 155; initialDepth = 118.398393; finalDepth = 140.531582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.714889 # Actual altitude: 68.714889 # Commanded vehicle depth: 140.531582 # Seafloor depth: -209.246471 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 93.648045 meters # Minimum depth: 168.398393 meters looking forward 50.000000 meters along route # Maximum depth: 189.376720 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.398393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644207; longitude = -122.019991; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 104.942394; finalDepth = 118.398393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.978327 # Actual altitude: 70.978327 # Commanded vehicle depth: 118.398393 # Seafloor depth: -189.376720 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 80.262579 meters # Minimum depth: 154.942394 meters looking forward 50.000000 meters along route # Maximum depth: 166.189372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.942394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644262; longitude = -122.018946; captureRadius = 10; duration = 160; initialDepth = 98.062363; finalDepth = 104.942394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.978327 # Actual altitude: 70.978327 # Commanded vehicle depth: 104.942394 # Seafloor depth: -166.189372 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 83.644771 meters # Minimum depth: 148.062363 meters looking forward 50.000000 meters along route # Maximum depth: 153.699539 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.062363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644308; longitude = -122.018050; captureRadius = 10; duration = 167; initialDepth = 93.943450; finalDepth = 98.062363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.246978 # Actual altitude: 61.246978 # Commanded vehicle depth: 98.062363 # Seafloor depth: -153.699539 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 86.933672 meters # Minimum depth: 143.943450 meters looking forward 50.000000 meters along route # Maximum depth: 147.545670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.943450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644357; longitude = -122.017116; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 86.809419; finalDepth = 93.943450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.637176 # Actual altitude: 55.637176 # Commanded vehicle depth: 93.94345 # Seafloor depth: -147.545670 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 80.281577 meters # Minimum depth: 136.809419 meters looking forward 50.000000 meters along route # Maximum depth: 143.640058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.809419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644304; longitude = -122.016146; captureRadius = 10; duration = 160; initialDepth = 80.660874; finalDepth = 86.809419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.830639 # Actual altitude: 56.830639 # Commanded vehicle depth: 86.809419 # Seafloor depth: -143.640058 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 76.960236 meters # Minimum depth: 130.660874 meters looking forward 50.000000 meters along route # Maximum depth: 135.851107 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.660874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644254; longitude = -122.015250; captureRadius = 10; duration = 153; initialDepth = 77.360240; finalDepth = 80.660874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.830639 # Actual altitude: 56.830639 # Commanded vehicle depth: 80.660874 # Seafloor depth: -135.851107 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 73.404573 meters # Minimum depth: 127.360240 meters looking forward 50.000000 meters along route # Maximum depth: 130.380978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.360240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644207; longitude = -122.014391; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 74.567518; finalDepth = 77.360240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.190233 # Actual altitude: 55.190233 # Commanded vehicle depth: 77.36024 # Seafloor depth: -130.380978 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 80.103498 meters # Minimum depth: 124.567518 meters looking forward 50.000000 meters along route # Maximum depth: 127.005202 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.567518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644197; longitude = -122.013570; captureRadius = 10; duration = 160; initialDepth = 73.596933; finalDepth = 74.567518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.020738 # Actual altitude: 53.020738 # Commanded vehicle depth: 74.567518 # Seafloor depth: -127.005202 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.420286 meters # Minimum depth: 123.596933 meters looking forward 50.000000 meters along route # Maximum depth: 124.590387 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.596933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644187; longitude = -122.012674; captureRadius = 10; duration = 166; initialDepth = 71.453738; finalDepth = 73.596933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.437684 # Actual altitude: 52.437684 # Commanded vehicle depth: 73.596933 # Seafloor depth: -124.590387 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 126.981100 meters # Minimum depth: 121.453738 meters looking forward 50.000000 meters along route # Maximum depth: 123.834124 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.453738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644176; longitude = -122.011741; captureRadius = 10; duration = 253; # abortOnTimeout = True; initialDepth = 69.418859; finalDepth = 71.453738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.380386 # Actual altitude: 52.380386 # Commanded vehicle depth: 71.453738 # Seafloor depth: -123.834124 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 83.519026 meters # Minimum depth: 119.418859 meters looking forward 50.000000 meters along route # Maximum depth: 121.331160 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.418859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644122; longitude = -122.010322; captureRadius = 10; duration = 167; initialDepth = 68.181169; finalDepth = 69.418859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.380386 # Actual altitude: 52.380386 # Commanded vehicle depth: 69.418859 # Seafloor depth: -121.331160 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 56.913590 meters # Minimum depth: 118.181169 meters looking forward 50.000000 meters along route # Maximum depth: 119.206980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.181169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644086; longitude = -122.009389; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 64.867216; finalDepth = 68.181169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.912301 # Actual altitude: 51.912301 # Commanded vehicle depth: 68.181169 # Seafloor depth: -119.206980 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 80.338071 meters # Minimum depth: 114.867216 meters looking forward 50.000000 meters along route # Maximum depth: 118.037140 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.867216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.644046; longitude = -122.008754; captureRadius = 10; duration = 160; initialDepth = 62.096011; finalDepth = 64.867216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.169924 # Actual altitude: 53.169924 # Commanded vehicle depth: 64.867216 # Seafloor depth: -118.037140 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.966990 meters # Minimum depth: 112.096011 meters looking forward 50.000000 meters along route # Maximum depth: 114.907353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.096011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643990; longitude = -122.007858; captureRadius = 10; duration = 153; initialDepth = 62.096011; finalDepth = 62.096011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.169924 # Actual altitude: 53.169924 # Commanded vehicle depth: 62.096011 # Seafloor depth: -114.907353 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 52.811342 # Sonar parameter altitude: 52.811342 # Commanded vehicle depth: 62.096011 # Seafloor depth: -112.161663 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200.00; MB_Power = 220; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 0; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 112.096011 meters looking forward 50.000000 meters along route # Maximum depth: 113.399331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1644.110807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.096011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.643936; longitude = -122.007000; captureRadius = 10; duration = 600; initialDepth = 62.096011; finalDepth = 62.096011; 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 = 273.863261; 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 = 273.863261; 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 = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 0; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################