# 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: 201210_WallTest_1v2.rte # Mission File: 201210_WallTest_1v2.cfg # Distance: 10501.484285 (m) # Estimated Time: 8890 (s) 2.470 (hr) # Abort Time: 11557 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1177 (s) # Way Points: 26 # Route Points: 203 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 40 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom disabled # Low sidescan disabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude 1: 50 (m) # Minimum Vehicle Altitude 1: 25 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 13 (m) # Desired Vehicle Altitude 2: 25 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1007.315831 (m) # Abort Vehicle Depth: 1019.815831 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.969798 36.800379 -100.014852 0.000000 3 # 1 -121.984601 36.775992 -790.414108 3010.676223 1 # 2 -121.987772 36.773956 -932.064535 3372.815061 3 # 3 -121.992553 36.773648 -931.229797 3800.850886 1 # 4 -121.999758 36.773798 -966.801712 4444.096977 1 # 5 -122.003192 36.774099 -977.229477 4752.386734 1 # 6 -122.005133 36.774429 -984.006149 4929.441668 1 # 7 -122.007261 36.775150 -989.483429 5135.515115 1 # 8 -122.010919 36.777524 -994.986343 5554.965086 3 # 9 -122.008269 36.778756 -983.897705 5828.112636 1 # 10 -121.996174 36.779657 -812.080643 6912.105706 1 # 11 -121.994718 36.778576 -830.279938 7088.926564 1 # 12 -121.993262 36.777584 -836.892670 7259.206768 1 # 13 -121.991209 36.777254 -843.043045 7446.045868 1 # 14 -121.989454 36.776953 -858.530563 7606.189387 1 # 15 -121.987630 36.775926 -899.300456 7804.855013 1 # 16 -121.987630 36.774719 -930.432617 7938.826629 5 # 17 -121.989677 36.773829 -931.357340 8146.438475 1 # 18 -121.992553 36.773648 -931.229797 8403.887361 1 # 19 -121.996248 36.773738 -951.224960 8733.809550 1 # 20 -121.999758 36.773798 -966.801712 9047.139939 1 # 21 -122.003192 36.774099 -977.229477 9355.429696 1 # 22 -122.005133 36.774429 -984.006149 9532.484630 1 # 23 -122.007261 36.775150 -989.483429 9738.558077 1 # 24 -122.010919 36.777524 -994.986343 10158.008048 1 # 25 -122.008047 36.779585 -981.326742 10501.484285 6 # # A total of 203 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 5400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1007.315831; abortDepth = 1019.815831; minAltitude = 25.000000; abortAltitude = 12.000000; deltaDepthRestart = 13.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1177; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - 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 25 # Segment length 39.308324 meters # Minimum depth: 981.326742 meters looking forward 50.000000 meters along route # Maximum depth: 986.687602 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 956.326742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779585; longitude = -122.008047; duration = 78; # abortOnTimeout = True; initialDepth = 961.770975; finalDepth = 956.326742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 956.326742 # Seafloor depth: -981.326742 # behavior reson { duration = 6; MB_Range = 87.50; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 87.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.922243 meters # Minimum depth: 986.770975 meters looking forward 50.000000 meters along route # Maximum depth: 991.518230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 961.770975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779349; longitude = -122.008376; duration = 101; initialDepth = 966.624210; finalDepth = 961.770975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 961.770975 # Seafloor depth: -986.770975 # behavior reson { duration = 6; MB_Range = 87.50; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 87.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 50.922350 meters # Minimum depth: 991.624210 meters looking forward 50.000000 meters along route # Maximum depth: 994.533637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 966.624210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779044; longitude = -122.008801; duration = 101; initialDepth = 969.368750; finalDepth = 966.624210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 966.62421 # Seafloor depth: -991.624210 # behavior reson { duration = 6; MB_Range = 87.50; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 87.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 50.922457 meters # Minimum depth: 994.368750 meters looking forward 50.000000 meters along route # Maximum depth: 994.820751 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.368750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778738; longitude = -122.009227; duration = 101; initialDepth = 969.815831; finalDepth = 969.368750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 969.36875 # Seafloor depth: -994.368750 # behavior reson { duration = 6; MB_Range = 87.50; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 87.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 50.922564 meters # Minimum depth: 994.815831 meters looking forward 50.000000 meters along route # Maximum depth: 994.996148 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.815831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778432; longitude = -122.009653; duration = 101; initialDepth = 969.690491; finalDepth = 969.815831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.025342 # Actual altitude: 25.025342 # Commanded vehicle depth: 969.815831 # Seafloor depth: -994.841173 # behavior reson { duration = 6; MB_Range = 87.59; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.51; MB_Bottom_Detect_Filter_Max_Range = 87.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 50.373727 meters # Minimum depth: 994.690491 meters looking forward 50.000000 meters along route # Maximum depth: 995.080258 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.690491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778127; longitude = -122.010079; duration = 100; initialDepth = 969.662604; finalDepth = 969.690491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.2313210000001 # Actual altitude: 25.2313210000001 # Commanded vehicle depth: 969.690491 # Seafloor depth: -994.921812 # behavior reson { duration = 6; MB_Range = 88.31; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.57; MB_Bottom_Detect_Filter_Max_Range = 88.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 50.104572 meters # Minimum depth: 994.662604 meters looking forward 50.000000 meters along route # Maximum depth: 994.942030 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.662604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777825; longitude = -122.010500; duration = 100; initialDepth = 969.406129; finalDepth = 969.662604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 25.2313210000001 # Actual altitude: 25.2313210000001 # Commanded vehicle depth: 969.662604 # Seafloor depth: -994.837769 # behavior reson { duration = 6; MB_Range = 88.31; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.57; MB_Bottom_Detect_Filter_Max_Range = 88.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 61.524272 meters # Minimum depth: 994.406129 meters looking forward 50.000000 meters along route # Maximum depth: 995.192277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.406129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.010919; duration = 123; # abortOnTimeout = True; initialDepth = 968.904752; finalDepth = 969.406129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.5802140000001 # Actual altitude: 25.5802140000001 # Commanded vehicle depth: 969.406129 # Seafloor depth: -994.986343 # behavior reson { duration = 6; MB_Range = 89.53; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.67; MB_Bottom_Detect_Filter_Max_Range = 89.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.952562 meters # Minimum depth: 993.904752 meters looking forward 50.000000 meters along route # Maximum depth: 994.679541 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 968.904752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777176; longitude = -122.010382; duration = 101; initialDepth = 944.088397; finalDepth = 968.904752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.5802140000001 # Actual altitude: 25.5802140000001 # Commanded vehicle depth: 968.904752 # Seafloor depth: -994.359589 # behavior reson { duration = 6; MB_Range = 89.53; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.67; MB_Bottom_Detect_Filter_Max_Range = 89.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 50.952680 meters # Minimum depth: 969.088397 meters looking forward 50.000000 meters along route # Maximum depth: 996.133859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.088397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776887; longitude = -122.009938; duration = 101; initialDepth = 944.109197; finalDepth = 944.088397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.67394 # Actual altitude: 50.67394 # Commanded vehicle depth: 944.088397 # Seafloor depth: -994.762337 # behavior reson { duration = 6; MB_Range = 177.36; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 177.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.122640 meters # Minimum depth: 969.109197 meters looking forward 50.000000 meters along route # Maximum depth: 994.413289 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.109197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776599; longitude = -122.009494; duration = 102; initialDepth = 967.948075; finalDepth = 944.109197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.67394 # Actual altitude: 50.67394 # Commanded vehicle depth: 944.109197 # Seafloor depth: -969.272627 # behavior reson { duration = 6; MB_Range = 177.36; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 177.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.396269 meters # Minimum depth: 993.772914 meters looking forward 50.000000 meters along route # Maximum depth: 994.848317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 967.948075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776310; longitude = -122.009048; duration = 102; initialDepth = 967.863557; finalDepth = 967.948075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.5294009261449 # Actual altitude: 26.5294009261449 # Commanded vehicle depth: 967.948075073855 # Seafloor depth: -994.477476 # behavior reson { duration = 6; MB_Range = 92.85; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.96; MB_Bottom_Detect_Filter_Max_Range = 92.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.396390 meters # Minimum depth: 992.863557 meters looking forward 50.000000 meters along route # Maximum depth: 994.910101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 967.863557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776019; longitude = -122.008600; duration = 102; initialDepth = 964.785624; finalDepth = 967.863557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.5294009261449 # Actual altitude: 26.5294009261449 # Commanded vehicle depth: 967.863557 # Seafloor depth: -993.775422 # behavior reson { duration = 6; MB_Range = 92.85; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.96; MB_Bottom_Detect_Filter_Max_Range = 92.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 51.396512 meters # Minimum depth: 989.785624 meters looking forward 50.000000 meters along route # Maximum depth: 994.234719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 964.785624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775728; longitude = -122.008151; duration = 102; initialDepth = 964.478137; finalDepth = 964.785624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.4490950000001 # Actual altitude: 29.4490950000001 # Commanded vehicle depth: 964.785624 # Seafloor depth: -994.234719 # behavior reson { duration = 6; MB_Range = 103.07; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.83; MB_Bottom_Detect_Filter_Max_Range = 103.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 50.708646 meters # Minimum depth: 989.478137 meters looking forward 50.000000 meters along route # Maximum depth: 991.001455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 964.478137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775437; longitude = -122.007703; duration = 101; initialDepth = 962.646677; finalDepth = 964.478137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 29.4490950000001 # Actual altitude: 29.4490950000001 # Commanded vehicle depth: 964.478137 # Seafloor depth: -990.528550 # behavior reson { duration = 6; MB_Range = 103.07; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.83; MB_Bottom_Detect_Filter_Max_Range = 103.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 23 # Segment length 50.497203 meters # Minimum depth: 987.646677 meters looking forward 50.000000 meters along route # Maximum depth: 990.196532 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 962.646677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775150; longitude = -122.007261; duration = 100; # abortOnTimeout = True; depth = 962.617299; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.836752 # Actual altitude: 26.836752 # Commanded vehicle depth: 962.646677 # Seafloor depth: -989.483429 # behavior reson { duration = 6; MB_Range = 93.93; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.05; MB_Bottom_Detect_Filter_Max_Range = 93.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 23 # Segment length 52.086564 meters # Minimum depth: 987.617299 meters looking forward 50.000000 meters along route # Maximum depth: 988.034688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 962.617299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774973; longitude = -122.006740; duration = 104; depth = 961.925549; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.836752 # Actual altitude: 26.836752 # Commanded vehicle depth: 962.617299 # Seafloor depth: -987.617299 # behavior reson { duration = 6; MB_Range = 93.93; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.05; MB_Bottom_Detect_Filter_Max_Range = 93.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 23 # Segment length 52.086674 meters # Minimum depth: 986.925549 meters looking forward 50.000000 meters along route # Maximum depth: 987.653655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 961.925549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774791; longitude = -122.006202; duration = 104; depth = 959.097111; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.7281059999999 # Actual altitude: 25.7281059999999 # Commanded vehicle depth: 961.925549 # Seafloor depth: -987.653655 # behavior reson { duration = 6; MB_Range = 90.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.72; MB_Bottom_Detect_Filter_Max_Range = 90.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 23 # Segment length 51.403006 meters # Minimum depth: 984.097111 meters looking forward 50.000000 meters along route # Maximum depth: 986.831915 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 959.097111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774609; longitude = -122.005664; duration = 102; depth = 956.355565; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 27.7348039999999 # Actual altitude: 27.7348039999999 # Commanded vehicle depth: 959.097111 # Seafloor depth: -986.831915 # behavior reson { duration = 6; MB_Range = 97.07; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.32; MB_Bottom_Detect_Filter_Max_Range = 97.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 22 # Segment length 74.239198 meters # Minimum depth: 981.355565 meters looking forward 50.000000 meters along route # Maximum depth: 984.006149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 956.355565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774429; longitude = -122.005133; duration = 148; # abortOnTimeout = True; depth = 955.548937; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.7348039999999 # Actual altitude: 27.7348039999999 # Commanded vehicle depth: 956.355565 # Seafloor depth: -984.006149 # behavior reson { duration = 6; MB_Range = 97.07; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.32; MB_Bottom_Detect_Filter_Max_Range = 97.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 22 # Segment length 51.107796 meters # Minimum depth: 980.548937 meters looking forward 50.000000 meters along route # Maximum depth: 981.561153 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 955.548937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774291; longitude = -122.004319; duration = 102; depth = 951.960981; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.6505840000001 # Actual altitude: 27.6505840000001 # Commanded vehicle depth: 955.548937 # Seafloor depth: -981.290082 # behavior reson { duration = 6; MB_Range = 96.78; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.30; MB_Bottom_Detect_Filter_Max_Range = 96.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 22 # Segment length 51.707940 meters # Minimum depth: 976.960981 meters looking forward 50.000000 meters along route # Maximum depth: 981.524559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 951.960981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774195; longitude = -122.003759; duration = 103; depth = 950.090523; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 29.563578 # Actual altitude: 29.563578 # Commanded vehicle depth: 951.960981 # Seafloor depth: -981.524559 # behavior reson { duration = 6; MB_Range = 103.47; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.87; MB_Bottom_Detect_Filter_Max_Range = 103.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 55.744708 meters # Minimum depth: 975.090523 meters looking forward 50.000000 meters along route # Maximum depth: 977.731936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 950.090523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774099; longitude = -122.003192; duration = 111; # abortOnTimeout = True; initialDepth = 943.918987; finalDepth = 950.090523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.563578 # Actual altitude: 29.563578 # Commanded vehicle depth: 950.090523 # Seafloor depth: -977.229477 # behavior reson { duration = 6; MB_Range = 103.47; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.87; MB_Bottom_Detect_Filter_Max_Range = 103.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.299407 meters # Minimum depth: 968.918987 meters looking forward 50.000000 meters along route # Maximum depth: 977.086326 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 943.918987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774045; longitude = -122.002571; duration = 100; initialDepth = 941.905085; finalDepth = 943.918987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.530026 # Actual altitude: 32.530026 # Commanded vehicle depth: 943.918987 # Seafloor depth: -976.449013 # behavior reson { duration = 6; MB_Range = 113.86; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.76; MB_Bottom_Detect_Filter_Max_Range = 113.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 50.299445 meters # Minimum depth: 966.905085 meters looking forward 50.000000 meters along route # Maximum depth: 973.581677 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 941.905085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773995; longitude = -122.002011; duration = 100; initialDepth = 944.684227; finalDepth = 941.905085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.530026 # Actual altitude: 32.530026 # Commanded vehicle depth: 941.905085 # Seafloor depth: -968.354383 # behavior reson { duration = 6; MB_Range = 113.86; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.76; MB_Bottom_Detect_Filter_Max_Range = 113.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 50.299482 meters # Minimum depth: 969.684227 meters looking forward 50.000000 meters along route # Maximum depth: 973.340626 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.684227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773946; longitude = -122.001451; duration = 100; initialDepth = 942.524935; finalDepth = 944.684227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.6563990000001 # Actual altitude: 28.6563990000001 # Commanded vehicle depth: 944.684227 # Seafloor depth: -973.340626 # behavior reson { duration = 6; MB_Range = 100.30; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.60; MB_Bottom_Detect_Filter_Max_Range = 100.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 50.299519 meters # Minimum depth: 967.524935 meters looking forward 50.000000 meters along route # Maximum depth: 969.634313 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 942.524935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773897; longitude = -122.000890; duration = 100; initialDepth = 941.845026; finalDepth = 942.524935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.6563990000001 # Actual altitude: 28.6563990000001 # Commanded vehicle depth: 942.524935 # Seafloor depth: -969.444219 # behavior reson { duration = 6; MB_Range = 100.30; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.60; MB_Bottom_Detect_Filter_Max_Range = 100.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 51.347196 meters # Minimum depth: 966.845026 meters looking forward 50.000000 meters along route # Maximum depth: 968.903349 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 941.845026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773848; longitude = -122.000330; duration = 102; initialDepth = 940.022884; finalDepth = 941.845026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 26.9192839999999 # Actual altitude: 26.9192839999999 # Commanded vehicle depth: 941.845026 # Seafloor depth: -967.549951 # behavior reson { duration = 6; MB_Range = 94.22; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 94.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 62.977401 meters # Minimum depth: 965.022884 meters looking forward 50.000000 meters along route # Maximum depth: 966.801712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 940.022884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773798; longitude = -121.999758; duration = 125; # abortOnTimeout = True; initialDepth = 937.764822; finalDepth = 940.022884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.778828 # Actual altitude: 26.778828 # Commanded vehicle depth: 940.022884 # Seafloor depth: -966.801712 # behavior reson { duration = 6; MB_Range = 93.73; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.03; MB_Bottom_Detect_Filter_Max_Range = 93.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.014945 meters # Minimum depth: 962.764822 meters looking forward 50.000000 meters along route # Maximum depth: 965.288080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 937.764822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773786; longitude = -121.999053; duration = 100; initialDepth = 936.092947; finalDepth = 937.764822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.5232580000001 # Actual altitude: 27.5232580000001 # Commanded vehicle depth: 937.764822 # Seafloor depth: -965.288080 # behavior reson { duration = 6; MB_Range = 96.33; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.26; MB_Bottom_Detect_Filter_Max_Range = 96.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.014957 meters # Minimum depth: 961.092947 meters looking forward 50.000000 meters along route # Maximum depth: 962.676962 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 936.092947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773776; longitude = -121.998492; duration = 100; initialDepth = 934.249234; finalDepth = 936.092947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.5232580000001 # Actual altitude: 27.5232580000001 # Commanded vehicle depth: 936.092947 # Seafloor depth: -962.676962 # behavior reson { duration = 6; MB_Range = 96.33; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.26; MB_Bottom_Detect_Filter_Max_Range = 96.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.014968 meters # Minimum depth: 959.249234 meters looking forward 50.000000 meters along route # Maximum depth: 961.131483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 934.249234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773767; longitude = -121.997932; duration = 100; initialDepth = 927.149509; finalDepth = 934.249234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.882249 # Actual altitude: 26.882249 # Commanded vehicle depth: 934.249234 # Seafloor depth: -961.131483 # behavior reson { duration = 6; MB_Range = 94.09; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.06; MB_Bottom_Detect_Filter_Max_Range = 94.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.014980 meters # Minimum depth: 952.149509 meters looking forward 50.000000 meters along route # Maximum depth: 959.163523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 927.149509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773757; longitude = -121.997372; duration = 100; initialDepth = 922.035329; finalDepth = 927.149509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.0140140000001 # Actual altitude: 32.0140140000001 # Commanded vehicle depth: 927.149509 # Seafloor depth: -959.163523 # behavior reson { duration = 6; MB_Range = 112.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.60; MB_Bottom_Detect_Filter_Max_Range = 112.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.293138 meters # Minimum depth: 947.035329 meters looking forward 50.000000 meters along route # Maximum depth: 956.035591 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 922.035329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773748; longitude = -121.996811; duration = 100; initialDepth = 921.825528; finalDepth = 922.035329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 32.0140140000001 # Actual altitude: 32.0140140000001 # Commanded vehicle depth: 922.035329 # Seafloor depth: -952.124086 # behavior reson { duration = 6; MB_Range = 112.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.60; MB_Bottom_Detect_Filter_Max_Range = 112.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 79.764407 meters # Minimum depth: 946.825528 meters looking forward 50.000000 meters along route # Maximum depth: 957.980041 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 921.825528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773738; longitude = -121.996248; duration = 159; # abortOnTimeout = True; initialDepth = 928.372975; finalDepth = 921.825528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.088757 # Actual altitude: 30.088757 # Commanded vehicle depth: 921.825528 # Seafloor depth: -951.224960 # behavior reson { duration = 6; MB_Range = 105.31; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.03; MB_Bottom_Detect_Filter_Max_Range = 105.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.026655 meters # Minimum depth: 953.372975 meters looking forward 50.000000 meters along route # Maximum depth: 965.466989 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 928.372975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773716; longitude = -121.995355; duration = 100; initialDepth = 926.608658; finalDepth = 928.372975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.399432 # Actual altitude: 29.399432 # Commanded vehicle depth: 928.372975 # Seafloor depth: -956.711665 # behavior reson { duration = 6; MB_Range = 102.90; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.82; MB_Bottom_Detect_Filter_Max_Range = 102.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.026669 meters # Minimum depth: 951.608658 meters looking forward 50.000000 meters along route # Maximum depth: 957.356484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 926.608658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773703; longitude = -121.994794; duration = 100; initialDepth = 923.318498; finalDepth = 926.608658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.33869 # Actual altitude: 28.33869 # Commanded vehicle depth: 926.608658 # Seafloor depth: -953.334097 # behavior reson { duration = 6; MB_Range = 99.19; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 99.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 99.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.026683 meters # Minimum depth: 948.318498 meters looking forward 50.000000 meters along route # Maximum depth: 952.833441 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 923.318498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773689; longitude = -121.994234; duration = 100; initialDepth = 915.646520; finalDepth = 923.318498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.238164 # Actual altitude: 28.238164 # Commanded vehicle depth: 923.318498 # Seafloor depth: -951.556662 # behavior reson { duration = 6; MB_Range = 98.83; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.47; MB_Bottom_Detect_Filter_Max_Range = 98.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 98.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.026699 meters # Minimum depth: 940.646520 meters looking forward 50.000000 meters along route # Maximum depth: 948.215266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 915.646520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773675; longitude = -121.993674; duration = 100; initialDepth = 906.012617; finalDepth = 915.646520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.568746 # Actual altitude: 32.568746 # Commanded vehicle depth: 915.64652 # Seafloor depth: -948.215266 # behavior reson { duration = 6; MB_Range = 113.99; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.77; MB_Bottom_Detect_Filter_Max_Range = 113.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.051076 meters # Minimum depth: 931.012617 meters looking forward 50.000000 meters along route # Maximum depth: 940.144245 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.012617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773662; longitude = -121.993114; duration = 100; initialDepth = 899.156256; finalDepth = 906.012617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 34.131628 # Actual altitude: 34.131628 # Commanded vehicle depth: 906.012617 # Seafloor depth: -940.144245 # behavior reson { duration = 6; MB_Range = 119.46; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 119.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 56.151607 meters # Minimum depth: 924.156256 meters looking forward 50.000000 meters along route # Maximum depth: 931.444941 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 899.156256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773648; longitude = -121.992553; duration = 112; # abortOnTimeout = True; initialDepth = 895.258819; finalDepth = 899.156256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.131628 # Actual altitude: 34.131628 # Commanded vehicle depth: 899.156256 # Seafloor depth: -931.229797 # behavior reson { duration = 6; MB_Range = 119.46; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.24; MB_Bottom_Detect_Filter_Max_Range = 119.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.157155 meters # Minimum depth: 920.258819 meters looking forward 50.000000 meters along route # Maximum depth: 931.170447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.258819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773688; longitude = -121.991926; duration = 100; initialDepth = 898.488853; finalDepth = 895.258819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.450142 # Actual altitude: 33.450142 # Commanded vehicle depth: 895.258819 # Seafloor depth: -928.708961 # behavior reson { duration = 6; MB_Range = 117.08; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 117.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 117.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 50.157138 meters # Minimum depth: 923.488853 meters looking forward 50.000000 meters along route # Maximum depth: 936.957833 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 898.488853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773723; longitude = -121.991365; duration = 100; initialDepth = 903.566631; finalDepth = 898.488853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.450142 # Actual altitude: 33.450142 # Commanded vehicle depth: 898.488853 # Seafloor depth: -923.488853 # behavior reson { duration = 6; MB_Range = 117.08; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 117.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 117.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 50.157121 meters # Minimum depth: 928.566631 meters looking forward 50.000000 meters along route # Maximum depth: 930.461257 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.566631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773758; longitude = -121.990805; duration = 100; initialDepth = 903.873144; finalDepth = 903.566631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.894626 # Actual altitude: 26.894626 # Commanded vehicle depth: 903.566631 # Seafloor depth: -930.461257 # behavior reson { duration = 6; MB_Range = 94.13; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.07; MB_Bottom_Detect_Filter_Max_Range = 94.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 50.825865 meters # Minimum depth: 928.873144 meters looking forward 50.000000 meters along route # Maximum depth: 931.238573 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.873144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773794; longitude = -121.990245; duration = 101; initialDepth = 906.357340; finalDepth = 903.873144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 26.894626 # Actual altitude: 26.894626 # Commanded vehicle depth: 903.873144 # Seafloor depth: -928.940036 # behavior reson { duration = 6; MB_Range = 94.13; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.07; MB_Bottom_Detect_Filter_Max_Range = 94.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 56.070527 meters # Minimum depth: 931.357340 meters looking forward 50.000000 meters along route # Maximum depth: 933.841485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.357340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773829; longitude = -121.989677; duration = 112; # abortOnTimeout = True; initialDepth = 908.780052; finalDepth = 906.357340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0668919999999 # Actual altitude: 25.0668919999999 # Commanded vehicle depth: 906.35734 # Seafloor depth: -931.357340 # behavior reson { duration = 6; MB_Range = 87.73; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.52; MB_Bottom_Detect_Filter_Max_Range = 87.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.008739 meters # Minimum depth: 933.780052 meters looking forward 50.000000 meters along route # Maximum depth: 938.825317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 908.780052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774069; longitude = -121.989124; duration = 100; initialDepth = 912.218197; finalDepth = 908.780052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.1330830000001 # Actual altitude: 25.1330830000001 # Commanded vehicle depth: 908.780052 # Seafloor depth: -933.913135 # behavior reson { duration = 6; MB_Range = 87.97; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.54; MB_Bottom_Detect_Filter_Max_Range = 87.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 50.008637 meters # Minimum depth: 937.218197 meters looking forward 50.000000 meters along route # Maximum depth: 938.948514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 912.218197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774284; longitude = -121.988631; duration = 100; initialDepth = 905.716032; finalDepth = 912.218197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.659096 # Actual altitude: 26.659096 # Commanded vehicle depth: 912.218197 # Seafloor depth: -938.877293 # behavior reson { duration = 6; MB_Range = 93.31; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 93.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 51.523943 meters # Minimum depth: 930.716032 meters looking forward 50.000000 meters along route # Maximum depth: 937.109791 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 905.716032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774498; longitude = -121.988138; duration = 103; initialDepth = 892.002157; finalDepth = 905.716032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 31.3937589999999 # Actual altitude: 31.3937589999999 # Commanded vehicle depth: 905.716032 # Seafloor depth: -937.109791 # behavior reson { duration = 6; MB_Range = 109.88; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.42; MB_Bottom_Detect_Filter_Max_Range = 109.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 82.649153 meters # Minimum depth: 917.002157 meters looking forward 50.000000 meters along route # Maximum depth: 930.432617 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 892.002157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774719; longitude = -121.987630; duration = 165; # abortOnTimeout = True; initialDepth = 849.916972; finalDepth = 892.002157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.43046 # Actual altitude: 38.43046 # Commanded vehicle depth: 892.002157 # Seafloor depth: -930.432617 # behavior reson { duration = 6; MB_Range = 134.51; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.53; MB_Bottom_Detect_Filter_Max_Range = 134.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 134.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.322463 meters # Minimum depth: 899.916972 meters looking forward 50.000000 meters along route # Maximum depth: 916.534709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.916972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775464; longitude = -121.987630; duration = 102; initialDepth = 837.602612; finalDepth = 849.916972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.617737 # Actual altitude: 66.617737 # Commanded vehicle depth: 849.916972 # Seafloor depth: -916.534709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 46.493723 meters # Minimum depth: 887.602612 meters looking forward 50.000000 meters along route # Maximum depth: 900.828552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 837.602612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775926; longitude = -121.987630; duration = 92; # abortOnTimeout = True; initialDepth = 833.021393; finalDepth = 837.602612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.617737 # Actual altitude: 66.617737 # Commanded vehicle depth: 837.602612 # Seafloor depth: -899.300456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.346826 meters # Minimum depth: 883.021393 meters looking forward 50.000000 meters along route # Maximum depth: 888.432244 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 833.021393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776166; longitude = -121.988057; duration = 100; initialDepth = 824.955318; finalDepth = 833.021393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.697844 # Actual altitude: 61.697844 # Commanded vehicle depth: 833.021393 # Seafloor depth: -886.842757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 51.268349 meters # Minimum depth: 874.955318 meters looking forward 50.000000 meters along route # Maximum depth: 888.571510 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 824.955318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776427; longitude = -121.988519; duration = 102; initialDepth = 809.011963; finalDepth = 824.955318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.547953 # Actual altitude: 63.547953 # Commanded vehicle depth: 824.955318 # Seafloor depth: -888.503271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.556728 meters # Minimum depth: 859.011963 meters looking forward 50.000000 meters along route # Maximum depth: 874.824187 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 809.011963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776692; longitude = -121.988990; duration = 101; initialDepth = 796.396388; finalDepth = 809.011963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.812224 # Actual altitude: 65.812224 # Commanded vehicle depth: 809.011963 # Seafloor depth: -874.824187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 57.856525 meters # Minimum depth: 846.396388 meters looking forward 50.000000 meters along route # Maximum depth: 858.530563 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 796.396388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776953; longitude = -121.989454; duration = 115; # abortOnTimeout = True; initialDepth = 784.072541; finalDepth = 796.396388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.812224 # Actual altitude: 65.812224 # Commanded vehicle depth: 796.396388 # Seafloor depth: -858.530563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.125403 meters # Minimum depth: 834.072541 meters looking forward 50.000000 meters along route # Maximum depth: 846.378168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 784.072541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777062; longitude = -121.990088; duration = 102; initialDepth = 787.184741; finalDepth = 784.072541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.305627 # Actual altitude: 62.305627 # Commanded vehicle depth: 784.072541 # Seafloor depth: -846.378168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.161591 meters # Minimum depth: 837.184741 meters looking forward 50.000000 meters along route # Maximum depth: 844.236875 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 787.184741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777158; longitude = -121.990648; duration = 102; initialDepth = 793.043045; finalDepth = 787.184741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.305627 # Actual altitude: 62.305627 # Commanded vehicle depth: 787.184741 # Seafloor depth: -837.184741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 85.626818 meters # Minimum depth: 843.043045 meters looking forward 50.000000 meters along route # Maximum depth: 852.592966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.043045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777254; longitude = -121.991209; duration = 171; # abortOnTimeout = True; initialDepth = 788.527128; finalDepth = 793.043045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 793.043045 # Seafloor depth: -843.043045 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.989783 meters # Minimum depth: 838.527128 meters looking forward 50.000000 meters along route # Maximum depth: 847.994345 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 788.527128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777405; longitude = -121.992150; duration = 101; initialDepth = 786.586626; finalDepth = 788.527128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.467217 # Actual altitude: 59.467217 # Commanded vehicle depth: 788.527128 # Seafloor depth: -847.994345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 50.222499 meters # Minimum depth: 836.586626 meters looking forward 50.000000 meters along route # Maximum depth: 838.103641 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 786.586626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777495; longitude = -121.992710; duration = 100; initialDepth = 784.957058; finalDepth = 786.586626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.467217 # Actual altitude: 59.467217 # Commanded vehicle depth: 786.586626 # Seafloor depth: -838.103641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 66.511129 meters # Minimum depth: 834.957058 meters looking forward 50.000000 meters along route # Maximum depth: 836.892670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 784.957058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777584; longitude = -121.993262; duration = 133; # abortOnTimeout = True; initialDepth = 783.684768; finalDepth = 784.957058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.935612 # Actual altitude: 51.935612 # Commanded vehicle depth: 784.957058 # Seafloor depth: -836.892670 # behavior reson { duration = 6; MB_Range = 181.77; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 181.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 52.420017 meters # Minimum depth: 833.684768 meters looking forward 50.000000 meters along route # Maximum depth: 835.320362 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 783.684768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777971; longitude = -121.993831; duration = 104; initialDepth = 780.485408; finalDepth = 783.684768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.935612 # Actual altitude: 51.935612 # Commanded vehicle depth: 783.684768 # Seafloor depth: -835.320362 # behavior reson { duration = 6; MB_Range = 181.77; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 181.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 51.349058 meters # Minimum depth: 830.485408 meters looking forward 50.000000 meters along route # Maximum depth: 833.764737 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 780.485408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778277; longitude = -121.994279; duration = 102; initialDepth = 776.150555; finalDepth = 780.485408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.159893 # Actual altitude: 53.159893 # Commanded vehicle depth: 780.485408 # Seafloor depth: -833.645301 # behavior reson { duration = 6; MB_Range = 186.06; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 186.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 74.628924 meters # Minimum depth: 826.150555 meters looking forward 50.000000 meters along route # Maximum depth: 830.687886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 776.150555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778576; longitude = -121.994718; duration = 149; # abortOnTimeout = True; initialDepth = 768.142883; finalDepth = 776.150555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.129383 # Actual altitude: 54.129383 # Commanded vehicle depth: 776.150555 # Seafloor depth: -830.279938 # behavior reson { duration = 6; MB_Range = 189.45; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 189.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.680346 meters # Minimum depth: 818.142883 meters looking forward 50.000000 meters along route # Maximum depth: 826.145823 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.142883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779032; longitude = -121.995333; duration = 103; initialDepth = 762.188791; finalDepth = 768.142883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.00294 # Actual altitude: 58.00294 # Commanded vehicle depth: 768.142883 # Seafloor depth: -826.145823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 50.511588 meters # Minimum depth: 812.188791 meters looking forward 50.000000 meters along route # Maximum depth: 817.949718 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.188791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779348; longitude = -121.995758; duration = 101; initialDepth = 762.080643; finalDepth = 762.188791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.00294 # Actual altitude: 58.00294 # Commanded vehicle depth: 762.188791 # Seafloor depth: -817.949718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 79.420467 meters # Minimum depth: 812.080643 meters looking forward 50.000000 meters along route # Maximum depth: 831.729361 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.080643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779657; longitude = -121.996174; duration = 158; # abortOnTimeout = True; initialDepth = 781.777305; finalDepth = 762.080643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7609269999999 # Actual altitude: 55.7609269999999 # Commanded vehicle depth: 762.080643 # Seafloor depth: -812.080643 # behavior reson { duration = 6; MB_Range = 195.16; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 195.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.012638 meters # Minimum depth: 831.777305 meters looking forward 50.000000 meters along route # Maximum depth: 845.376889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 781.777305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779591; longitude = -121.997060; duration = 100; initialDepth = 796.141956; finalDepth = 781.777305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 781.777305 # Seafloor depth: -831.777305 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213874 meters # Minimum depth: 846.141956 meters looking forward 50.000000 meters along route # Maximum depth: 850.694743 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 796.141956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779549; longitude = -121.997618; duration = 100; initialDepth = 798.323609; finalDepth = 796.141956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 796.141956 # Seafloor depth: -846.141956 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213896 meters # Minimum depth: 848.323609 meters looking forward 50.000000 meters along route # Maximum depth: 852.060136 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 798.323609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779508; longitude = -121.998178; duration = 100; initialDepth = 795.457724; finalDepth = 798.323609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7072879999999 # Actual altitude: 51.7072879999999 # Commanded vehicle depth: 798.323609 # Seafloor depth: -850.030897 # behavior reson { duration = 6; MB_Range = 180.98; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; MB_Bottom_Detect_Filter_Max_Range = 180.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213917 meters # Minimum depth: 845.457724 meters looking forward 50.000000 meters along route # Maximum depth: 850.897134 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 795.457724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779466; longitude = -121.998739; duration = 100; initialDepth = 793.495743; finalDepth = 795.457724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4394100000001 # Actual altitude: 55.4394100000001 # Commanded vehicle depth: 795.457724 # Seafloor depth: -850.897134 # behavior reson { duration = 6; MB_Range = 194.04; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 194.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213939 meters # Minimum depth: 843.495743 meters looking forward 50.000000 meters along route # Maximum depth: 846.765720 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.495743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779424; longitude = -121.999299; duration = 100; initialDepth = 793.933378; finalDepth = 793.495743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4394100000001 # Actual altitude: 55.4394100000001 # Commanded vehicle depth: 793.495743 # Seafloor depth: -846.464459 # behavior reson { duration = 6; MB_Range = 194.04; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 194.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213960 meters # Minimum depth: 843.933378 meters looking forward 50.000000 meters along route # Maximum depth: 848.815672 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.933378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779382; longitude = -121.999859; duration = 100; initialDepth = 799.195546; finalDepth = 793.933378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9687160000001 # Actual altitude: 52.9687160000001 # Commanded vehicle depth: 793.933378 # Seafloor depth: -843.933378 # behavior reson { duration = 6; MB_Range = 185.39; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 185.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.213982 meters # Minimum depth: 849.195546 meters looking forward 50.000000 meters along route # Maximum depth: 865.596281 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 799.195546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779341; longitude = -122.000420; duration = 100; initialDepth = 816.352532; finalDepth = 799.195546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.195546 # Seafloor depth: -849.195546 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214003 meters # Minimum depth: 866.352532 meters looking forward 50.000000 meters along route # Maximum depth: 882.058683 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 816.352532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779299; longitude = -122.000980; duration = 100; initialDepth = 832.501471; finalDepth = 816.352532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.352532 # Seafloor depth: -866.352532 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214025 meters # Minimum depth: 882.501471 meters looking forward 50.000000 meters along route # Maximum depth: 895.228619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 832.501471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779257; longitude = -122.001540; duration = 100; initialDepth = 845.553209; finalDepth = 832.501471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 832.501471 # Seafloor depth: -882.501471 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214046 meters # Minimum depth: 895.553209 meters looking forward 50.000000 meters along route # Maximum depth: 902.457125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 845.553209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779216; longitude = -122.002100; duration = 100; initialDepth = 852.849616; finalDepth = 845.553209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 845.553209 # Seafloor depth: -895.553209 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214068 meters # Minimum depth: 902.849616 meters looking forward 50.000000 meters along route # Maximum depth: 912.502569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 852.849616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779174; longitude = -122.002661; duration = 100; initialDepth = 862.753333; finalDepth = 852.849616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 852.849616 # Seafloor depth: -902.849616 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214089 meters # Minimum depth: 912.753333 meters looking forward 50.000000 meters along route # Maximum depth: 918.650696 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 862.753333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779132; longitude = -122.003221; duration = 100; initialDepth = 868.884131; finalDepth = 862.753333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 862.753333 # Seafloor depth: -912.753333 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214110 meters # Minimum depth: 918.884131 meters looking forward 50.000000 meters along route # Maximum depth: 922.080015 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 868.884131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779090; longitude = -122.003781; duration = 100; initialDepth = 872.310548; finalDepth = 868.884131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 868.884131 # Seafloor depth: -918.884131 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214133 meters # Minimum depth: 922.310548 meters looking forward 50.000000 meters along route # Maximum depth: 929.666797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 872.310548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779049; longitude = -122.004342; duration = 100; initialDepth = 877.217986; finalDepth = 872.310548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 872.310548 # Seafloor depth: -922.310548 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214153 meters # Minimum depth: 927.217986 meters looking forward 50.000000 meters along route # Maximum depth: 932.301644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 877.217986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779007; longitude = -122.004902; duration = 100; initialDepth = 882.661645; finalDepth = 877.217986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.257266 # Actual altitude: 52.257266 # Commanded vehicle depth: 877.217986 # Seafloor depth: -929.475252 # behavior reson { duration = 6; MB_Range = 182.90; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 182.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214175 meters # Minimum depth: 932.661645 meters looking forward 50.000000 meters along route # Maximum depth: 941.813831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 882.661645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778965; longitude = -122.005462; duration = 100; initialDepth = 891.961578; finalDepth = 882.661645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.257266 # Actual altitude: 52.257266 # Commanded vehicle depth: 882.661645 # Seafloor depth: -932.661645 # behavior reson { duration = 6; MB_Range = 182.90; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 182.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214197 meters # Minimum depth: 941.961578 meters looking forward 50.000000 meters along route # Maximum depth: 950.942499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 891.961578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778923; longitude = -122.006022; duration = 100; initialDepth = 901.419515; finalDepth = 891.961578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 891.961578 # Seafloor depth: -941.961578 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.214218 meters # Minimum depth: 951.419515 meters looking forward 50.000000 meters along route # Maximum depth: 960.269615 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 901.419515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778882; longitude = -122.006583; duration = 100; initialDepth = 910.695893; finalDepth = 901.419515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 901.419515 # Seafloor depth: -951.419515 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.469612 meters # Minimum depth: 960.695893 meters looking forward 50.000000 meters along route # Maximum depth: 974.175419 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 910.695893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778840; longitude = -122.007143; duration = 100; initialDepth = 924.237399; finalDepth = 910.695893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 910.695893 # Seafloor depth: -960.695893 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.451568 meters # Minimum depth: 974.237399 meters looking forward 50.000000 meters along route # Maximum depth: 983.737592 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 924.237399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778798; longitude = -122.007706; duration = 100; initialDepth = 933.897705; finalDepth = 924.237399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 924.237399 # Seafloor depth: -974.237399 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 68.733720 meters # Minimum depth: 983.897705 meters looking forward 50.000000 meters along route # Maximum depth: 994.412856 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 933.897705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778756; longitude = -122.008269; duration = 137; # abortOnTimeout = True; initialDepth = 944.465091; finalDepth = 933.897705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 933.897705 # Seafloor depth: -983.897705 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.820375 meters # Minimum depth: 994.465091 meters looking forward 50.000000 meters along route # Maximum depth: 995.133633 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.465091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778446; longitude = -122.008936; duration = 101; initialDepth = 945.072671; finalDepth = 944.465091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 944.465091 # Seafloor depth: -994.465091 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 50.972424 meters # Minimum depth: 995.072671 meters looking forward 50.000000 meters along route # Maximum depth: 995.277640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 945.072671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778217; longitude = -122.009429; duration = 101; initialDepth = 945.101294; finalDepth = 945.072671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 945.072671 # Seafloor depth: -995.072671 # behavior reson { duration = 6; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 51.949344 meters # Minimum depth: 995.101294 meters looking forward 50.000000 meters along route # Maximum depth: 995.375567 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 945.101294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777987; longitude = -122.009923; duration = 103; initialDepth = 944.648671; finalDepth = 945.101294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0959089999999 # Actual altitude: 50.0959089999999 # Commanded vehicle depth: 945.101294 # Seafloor depth: -995.197203 # behavior reson { duration = 6; MB_Range = 175.34; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.03; MB_Bottom_Detect_Filter_Max_Range = 175.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 50.671687 meters # Minimum depth: 994.648671 meters looking forward 50.000000 meters along route # Maximum depth: 995.168743 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.648671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777753; longitude = -122.010427; duration = 101; initialDepth = 944.406129; finalDepth = 944.648671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.506936 # Actual altitude: 50.506936 # Commanded vehicle depth: 944.648671 # Seafloor depth: -995.155607 # behavior reson { duration = 6; MB_Range = 176.77; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 176.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 61.524272 meters # Minimum depth: 994.406129 meters looking forward 50.000000 meters along route # Maximum depth: 995.192277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.406129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.010919; duration = 123; # abortOnTimeout = True; initialDepth = 943.904752; finalDepth = 944.406129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5802140000001 # Actual altitude: 50.5802140000001 # Commanded vehicle depth: 944.406129 # Seafloor depth: -994.986343 # behavior reson { duration = 6; MB_Range = 177.03; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 177.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.952561 meters # Minimum depth: 993.904752 meters looking forward 50.000000 meters along route # Maximum depth: 994.679541 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 943.904752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777176; longitude = -122.010382; duration = 101; initialDepth = 919.088397; finalDepth = 943.904752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5802140000001 # Actual altitude: 50.5802140000001 # Commanded vehicle depth: 943.904752 # Seafloor depth: -994.359589 # behavior reson { duration = 6; MB_Range = 177.03; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 177.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.952680 meters # Minimum depth: 969.088397 meters looking forward 50.000000 meters along route # Maximum depth: 996.133859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.088397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776887; longitude = -122.009938; duration = 101; initialDepth = 919.109197; finalDepth = 919.088397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.67394 # Actual altitude: 75.67394 # Commanded vehicle depth: 919.088397 # Seafloor depth: -994.762337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.122640 meters # Minimum depth: 969.109197 meters looking forward 50.000000 meters along route # Maximum depth: 994.413289 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.109197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776599; longitude = -122.009494; duration = 102; initialDepth = 942.948075; finalDepth = 919.109197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.67394 # Actual altitude: 75.67394 # Commanded vehicle depth: 919.109197 # Seafloor depth: -969.272627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.396270 meters # Minimum depth: 993.772914 meters looking forward 50.000000 meters along route # Maximum depth: 994.848317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 942.948075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776310; longitude = -122.009048; duration = 102; initialDepth = 942.863557; finalDepth = 942.948075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5294009261445 # Actual altitude: 51.5294009261445 # Commanded vehicle depth: 942.948075073856 # Seafloor depth: -994.477476 # behavior reson { duration = 6; MB_Range = 180.35; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 180.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.396390 meters # Minimum depth: 992.863557 meters looking forward 50.000000 meters along route # Maximum depth: 994.910101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 942.863557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776019; longitude = -122.008600; duration = 102; initialDepth = 939.785624; finalDepth = 942.863557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5294009261445 # Actual altitude: 51.5294009261445 # Commanded vehicle depth: 942.863557 # Seafloor depth: -993.775422 # behavior reson { duration = 6; MB_Range = 180.35; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 180.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.396511 meters # Minimum depth: 989.785624 meters looking forward 50.000000 meters along route # Maximum depth: 994.234719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 939.785624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775728; longitude = -122.008151; duration = 102; initialDepth = 939.478137; finalDepth = 939.785624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4490950000001 # Actual altitude: 54.4490950000001 # Commanded vehicle depth: 939.785624 # Seafloor depth: -994.234719 # behavior reson { duration = 6; MB_Range = 190.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 190.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.708647 meters # Minimum depth: 989.478137 meters looking forward 50.000000 meters along route # Maximum depth: 991.001455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 939.478137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775437; longitude = -122.007703; duration = 101; initialDepth = 937.646677; finalDepth = 939.478137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.4490950000001 # Actual altitude: 54.4490950000001 # Commanded vehicle depth: 939.478137 # Seafloor depth: -990.528550 # behavior reson { duration = 6; MB_Range = 190.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 190.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 7 # Segment length 50.497203 meters # Minimum depth: 987.646677 meters looking forward 50.000000 meters along route # Maximum depth: 990.196532 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 937.646677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775150; longitude = -122.007261; duration = 100; # abortOnTimeout = True; depth = 937.646677; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.836752 # Actual altitude: 51.836752 # Commanded vehicle depth: 937.646677 # Seafloor depth: -989.483429 # behavior reson { duration = 6; MB_Range = 181.43; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 181.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 7 # Segment length 52.086564 meters # Minimum depth: 987.617299 meters looking forward 50.000000 meters along route # Maximum depth: 988.034688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 937.617299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774973; longitude = -122.006740; duration = 104; depth = 936.925549; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.836752 # Actual altitude: 51.836752 # Commanded vehicle depth: 937.617299 # Seafloor depth: -987.617299 # behavior reson { duration = 6; MB_Range = 181.43; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 181.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 7 # Segment length 52.086674 meters # Minimum depth: 986.925549 meters looking forward 50.000000 meters along route # Maximum depth: 987.653655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 936.925549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774791; longitude = -122.006202; duration = 104; depth = 934.097111; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7281059999999 # Actual altitude: 50.7281059999999 # Commanded vehicle depth: 936.925549 # Seafloor depth: -987.653655 # behavior reson { duration = 6; MB_Range = 177.55; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 177.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 7 # Segment length 51.403006 meters # Minimum depth: 984.097111 meters looking forward 50.000000 meters along route # Maximum depth: 986.831915 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 934.097111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774609; longitude = -122.005664; duration = 102; depth = 931.355565; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.7348039999999 # Actual altitude: 52.7348039999999 # Commanded vehicle depth: 934.097111 # Seafloor depth: -986.831915 # behavior reson { duration = 6; MB_Range = 184.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 184.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 6 # Segment length 74.239197 meters # Minimum depth: 981.355565 meters looking forward 50.000000 meters along route # Maximum depth: 984.006149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 931.355565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774429; longitude = -122.005133; duration = 148; # abortOnTimeout = True; depth = 930.548937; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7348039999999 # Actual altitude: 52.7348039999999 # Commanded vehicle depth: 931.355565 # Seafloor depth: -984.006149 # behavior reson { duration = 6; MB_Range = 184.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 184.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 6 # Segment length 51.107796 meters # Minimum depth: 980.548937 meters looking forward 50.000000 meters along route # Maximum depth: 981.561153 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 930.548937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774291; longitude = -122.004319; duration = 102; depth = 926.960981; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6505840000001 # Actual altitude: 52.6505840000001 # Commanded vehicle depth: 930.548937 # Seafloor depth: -981.290082 # behavior reson { duration = 6; MB_Range = 184.28; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 184.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 6 # Segment length 51.707941 meters # Minimum depth: 976.960981 meters looking forward 50.000000 meters along route # Maximum depth: 981.524559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 926.960981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774195; longitude = -122.003759; duration = 103; depth = 925.090523; speed = 1.500000; maxCrossTrackError = 10; #Meters; Maximum cross-track displacement standOff = 40; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder. } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.563578 # Actual altitude: 54.563578 # Commanded vehicle depth: 926.960981 # Seafloor depth: -981.524559 # behavior reson { duration = 6; MB_Range = 190.97; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 190.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 55.744708 meters # Minimum depth: 975.090523 meters looking forward 50.000000 meters along route # Maximum depth: 977.731936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 925.090523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774099; longitude = -122.003192; duration = 111; # abortOnTimeout = True; initialDepth = 918.918987; finalDepth = 925.090523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.563578 # Actual altitude: 54.563578 # Commanded vehicle depth: 925.090523 # Seafloor depth: -977.229477 # behavior reson { duration = 6; MB_Range = 190.97; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 190.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.299407 meters # Minimum depth: 968.918987 meters looking forward 50.000000 meters along route # Maximum depth: 977.086326 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 918.918987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774045; longitude = -122.002571; duration = 100; initialDepth = 916.905085; finalDepth = 918.918987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.530026 # Actual altitude: 57.530026 # Commanded vehicle depth: 918.918987 # Seafloor depth: -976.449013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.299445 meters # Minimum depth: 966.905085 meters looking forward 50.000000 meters along route # Maximum depth: 973.581677 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.905085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773995; longitude = -122.002011; duration = 100; initialDepth = 919.684227; finalDepth = 916.905085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.530026 # Actual altitude: 57.530026 # Commanded vehicle depth: 916.905085 # Seafloor depth: -968.354383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.299482 meters # Minimum depth: 969.684227 meters looking forward 50.000000 meters along route # Maximum depth: 973.340626 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.684227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773946; longitude = -122.001451; duration = 100; initialDepth = 917.524935; finalDepth = 919.684227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6563990000001 # Actual altitude: 53.6563990000001 # Commanded vehicle depth: 919.684227 # Seafloor depth: -973.340626 # behavior reson { duration = 6; MB_Range = 187.80; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 187.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.299519 meters # Minimum depth: 967.524935 meters looking forward 50.000000 meters along route # Maximum depth: 969.634313 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 917.524935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773897; longitude = -122.000890; duration = 100; initialDepth = 916.845026; finalDepth = 917.524935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6563990000001 # Actual altitude: 53.6563990000001 # Commanded vehicle depth: 917.524935 # Seafloor depth: -969.444219 # behavior reson { duration = 6; MB_Range = 187.80; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 187.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.347196 meters # Minimum depth: 966.845026 meters looking forward 50.000000 meters along route # Maximum depth: 968.903349 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.845026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773848; longitude = -122.000330; duration = 102; initialDepth = 915.024068; finalDepth = 916.845026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.9192839999999 # Actual altitude: 51.9192839999999 # Commanded vehicle depth: 916.845026 # Seafloor depth: -967.549951 # behavior reson { duration = 6; MB_Range = 181.72; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 181.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 42.976113 meters # Minimum depth: 965.024068 meters looking forward 50.000000 meters along route # Maximum depth: 967.152706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 915.024068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773798; longitude = -121.999758; duration = 85; # abortOnTimeout = True; initialDepth = 913.299845; finalDepth = 915.024068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7776439999999 # Actual altitude: 51.7776439999999 # Commanded vehicle depth: 915.024068 # Seafloor depth: -966.801712 # behavior reson { duration = 6; MB_Range = 181.22; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 181.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.020396 meters # Minimum depth: 963.299845 meters looking forward 50.000000 meters along route # Maximum depth: 965.543336 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 913.299845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773788; longitude = -121.999277; duration = 100; initialDepth = 911.921280; finalDepth = 913.299845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.832688 # Actual altitude: 51.832688 # Commanded vehicle depth: 913.299845 # Seafloor depth: -965.132533 # behavior reson { duration = 6; MB_Range = 181.41; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 181.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020409 meters # Minimum depth: 961.921280 meters looking forward 50.000000 meters along route # Maximum depth: 963.444936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 911.921280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773776; longitude = -121.998716; duration = 100; initialDepth = 910.364772; finalDepth = 911.921280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.832688 # Actual altitude: 51.832688 # Commanded vehicle depth: 911.92128 # Seafloor depth: -963.444936 # behavior reson { duration = 6; MB_Range = 181.41; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 181.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020423 meters # Minimum depth: 960.364772 meters looking forward 50.000000 meters along route # Maximum depth: 961.721254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 910.364772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773765; longitude = -121.998156; duration = 100; initialDepth = 904.962610; finalDepth = 910.364772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.523656 # Actual altitude: 51.523656 # Commanded vehicle depth: 910.364772 # Seafloor depth: -961.721254 # behavior reson { duration = 6; MB_Range = 180.33; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 180.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020435 meters # Minimum depth: 954.962610 meters looking forward 50.000000 meters along route # Maximum depth: 960.314359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 904.962610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773753; longitude = -121.997596; duration = 100; initialDepth = 895.629086; finalDepth = 904.962610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3517489999999 # Actual altitude: 55.3517489999999 # Commanded vehicle depth: 904.96261 # Seafloor depth: -960.314359 # behavior reson { duration = 6; MB_Range = 193.73; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 193.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020448 meters # Minimum depth: 945.629086 meters looking forward 50.000000 meters along route # Maximum depth: 955.473464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.629086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773741; longitude = -121.997036; duration = 100; initialDepth = 895.118123; finalDepth = 895.629086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.793763 # Actual altitude: 58.793763 # Commanded vehicle depth: 895.629086 # Seafloor depth: -954.422849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020462 meters # Minimum depth: 945.118123 meters looking forward 50.000000 meters along route # Maximum depth: 952.745409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.118123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773730; longitude = -121.996475; duration = 100; initialDepth = 895.912497; finalDepth = 895.118123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.793763 # Actual altitude: 58.793763 # Commanded vehicle depth: 895.118123 # Seafloor depth: -946.977758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020474 meters # Minimum depth: 945.912497 meters looking forward 50.000000 meters along route # Maximum depth: 957.599960 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.912497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773718; longitude = -121.995915; duration = 100; initialDepth = 903.208029; finalDepth = 895.912497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.859635 # Actual altitude: 51.859635 # Commanded vehicle depth: 895.912497 # Seafloor depth: -945.912497 # behavior reson { duration = 6; MB_Range = 181.51; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 181.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020488 meters # Minimum depth: 953.208029 meters looking forward 50.000000 meters along route # Maximum depth: 965.018826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.208029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773706; longitude = -121.995355; duration = 100; initialDepth = 901.600473; finalDepth = 903.208029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.621043 # Actual altitude: 52.621043 # Commanded vehicle depth: 903.208029 # Seafloor depth: -955.829072 # behavior reson { duration = 6; MB_Range = 184.17; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 184.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020501 meters # Minimum depth: 951.600473 meters looking forward 50.000000 meters along route # Maximum depth: 956.883479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 901.600473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773695; longitude = -121.994794; duration = 100; initialDepth = 898.202540; finalDepth = 901.600473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.621043 # Actual altitude: 52.621043 # Commanded vehicle depth: 901.600473 # Seafloor depth: -953.202285 # behavior reson { duration = 6; MB_Range = 184.17; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 184.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020514 meters # Minimum depth: 948.202540 meters looking forward 50.000000 meters along route # Maximum depth: 951.545724 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 898.202540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773683; longitude = -121.994234; duration = 100; initialDepth = 890.544909; finalDepth = 898.202540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.343184 # Actual altitude: 53.343184 # Commanded vehicle depth: 898.20254 # Seafloor depth: -951.545724 # behavior reson { duration = 6; MB_Range = 186.70; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 186.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.020527 meters # Minimum depth: 940.544909 meters looking forward 50.000000 meters along route # Maximum depth: 948.196115 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 890.544909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773671; longitude = -121.993674; duration = 100; initialDepth = 881.012553; finalDepth = 890.544909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.651206 # Actual altitude: 57.651206 # Commanded vehicle depth: 890.544909 # Seafloor depth: -948.196115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.044901 meters # Minimum depth: 931.012553 meters looking forward 50.000000 meters along route # Maximum depth: 940.037226 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 881.012553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773660; longitude = -121.993114; duration = 100; initialDepth = 876.504626; finalDepth = 881.012553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.024673 # Actual altitude: 59.024673 # Commanded vehicle depth: 881.012553 # Seafloor depth: -940.037226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 76.223897 meters # Minimum depth: 926.504626 meters looking forward 50.000000 meters along route # Maximum depth: 931.229797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 876.504626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773648; longitude = -121.992553; duration = 152; # abortOnTimeout = True; initialDepth = 870.490421; finalDepth = 876.504626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.024673 # Actual altitude: 59.024673 # Commanded vehicle depth: 876.504626 # Seafloor depth: -931.229797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.163351 meters # Minimum depth: 920.490421 meters looking forward 50.000000 meters along route # Maximum depth: 936.832202 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 870.490421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773703; longitude = -121.991702; duration = 100; initialDepth = 878.773779; finalDepth = 870.490421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7358400000001 # Actual altitude: 56.7358400000001 # Commanded vehicle depth: 870.490421 # Seafloor depth: -927.226261 # behavior reson { duration = 6; MB_Range = 198.58; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 198.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163334 meters # Minimum depth: 928.773779 meters looking forward 50.000000 meters along route # Maximum depth: 936.967499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.773779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773739; longitude = -121.991141; duration = 100; initialDepth = 878.585402; finalDepth = 878.773779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.026204 # Actual altitude: 58.026204 # Commanded vehicle depth: 878.773779 # Seafloor depth: -936.799983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163315 meters # Minimum depth: 928.585402 meters looking forward 50.000000 meters along route # Maximum depth: 929.218409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.585402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773775; longitude = -121.990581; duration = 100; initialDepth = 879.117617; finalDepth = 878.585402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.026204 # Actual altitude: 58.026204 # Commanded vehicle depth: 878.585402 # Seafloor depth: -928.811697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163298 meters # Minimum depth: 929.117617 meters looking forward 50.000000 meters along route # Maximum depth: 932.859057 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 879.117617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773811; longitude = -121.990021; duration = 100; initialDepth = 882.941992; finalDepth = 879.117617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2262949999999 # Actual altitude: 50.2262949999999 # Commanded vehicle depth: 879.117617 # Seafloor depth: -929.136653 # behavior reson { duration = 6; MB_Range = 175.79; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 175.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163280 meters # Minimum depth: 932.941992 meters looking forward 50.000000 meters along route # Maximum depth: 933.603995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 882.941992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773847; longitude = -121.989461; duration = 100; initialDepth = 883.352160; finalDepth = 882.941992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0430269999999 # Actual altitude: 50.0430269999999 # Commanded vehicle depth: 882.941992 # Seafloor depth: -932.985019 # behavior reson { duration = 6; MB_Range = 175.15; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 175.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163262 meters # Minimum depth: 933.352160 meters looking forward 50.000000 meters along route # Maximum depth: 937.382402 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 883.352160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773883; longitude = -121.988900; duration = 100; initialDepth = 882.123389; finalDepth = 883.352160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.317872 # Actual altitude: 50.317872 # Commanded vehicle depth: 883.35216 # Seafloor depth: -933.670032 # behavior reson { duration = 6; MB_Range = 176.11; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 176.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.832088 meters # Minimum depth: 932.123389 meters looking forward 50.000000 meters along route # Maximum depth: 936.897984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 882.123389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773919; longitude = -121.988340; duration = 101; initialDepth = 875.035851; finalDepth = 882.123389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.774595 # Actual altitude: 54.774595 # Commanded vehicle depth: 882.123389 # Seafloor depth: -936.897984 # behavior reson { duration = 6; MB_Range = 191.71; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 191.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 56.623848 meters # Minimum depth: 925.035851 meters looking forward 50.000000 meters along route # Maximum depth: 932.064535 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 875.035851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773956; longitude = -121.987772; duration = 113; # abortOnTimeout = True; initialDepth = 862.353113; finalDepth = 875.035851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.028684 # Actual altitude: 57.028684 # Commanded vehicle depth: 875.035851 # Seafloor depth: -932.064535 # behavior reson { duration = 6; MB_Range = 199.60; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 199.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.012169 meters # Minimum depth: 912.353113 meters looking forward 50.000000 meters along route # Maximum depth: 924.862112 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 862.353113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774274; longitude = -121.987276; duration = 100; initialDepth = 843.347468; finalDepth = 862.353113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.508999 # Actual altitude: 62.508999 # Commanded vehicle depth: 862.353113 # Seafloor depth: -924.862112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.185117 meters # Minimum depth: 893.347468 meters looking forward 50.000000 meters along route # Maximum depth: 911.326205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 843.347468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774555; longitude = -121.986838; duration = 102; initialDepth = 824.151495; finalDepth = 843.347468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9787369999999 # Actual altitude: 67.9787369999999 # Commanded vehicle depth: 843.347468 # Seafloor depth: -911.326205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.185005 meters # Minimum depth: 874.151495 meters looking forward 50.000000 meters along route # Maximum depth: 892.774790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 824.151495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774843; longitude = -121.986390; duration = 102; initialDepth = 798.099988; finalDepth = 824.151495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6232950000001 # Actual altitude: 68.6232950000001 # Commanded vehicle depth: 824.151495 # Seafloor depth: -892.774790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.184894 meters # Minimum depth: 848.099988 meters looking forward 50.000000 meters along route # Maximum depth: 873.245359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 798.099988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775131; longitude = -121.985942; duration = 102; initialDepth = 764.981695; finalDepth = 798.099988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.145371 # Actual altitude: 75.145371 # Commanded vehicle depth: 798.099988 # Seafloor depth: -873.245359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.184782 meters # Minimum depth: 814.981695 meters looking forward 50.000000 meters along route # Maximum depth: 847.367199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.981695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775419; longitude = -121.985494; duration = 102; initialDepth = 740.657001; finalDepth = 764.981695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3855040000001 # Actual altitude: 82.3855040000001 # Commanded vehicle depth: 764.981695 # Seafloor depth: -847.367199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.763023 meters # Minimum depth: 790.657001 meters looking forward 50.000000 meters along route # Maximum depth: 814.613251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.657001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775707; longitude = -121.985046; duration = 101; initialDepth = 723.373254; finalDepth = 740.657001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.3855040000001 # Actual altitude: 82.3855040000001 # Commanded vehicle depth: 740.657001 # Seafloor depth: -814.613251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 50.892456 meters # Minimum depth: 773.373254 meters looking forward 50.000000 meters along route # Maximum depth: 790.414108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 723.373254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775992; longitude = -121.984601; duration = 101; # abortOnTimeout = True; initialDepth = 707.571575; finalDepth = 723.373254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.95625 # Actual altitude: 73.95625 # Commanded vehicle depth: 723.373254 # Seafloor depth: -790.414108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.141401 meters # Minimum depth: 757.571575 meters looking forward 50.000000 meters along route # Maximum depth: 773.204078 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.571575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776404; longitude = -121.984351; duration = 100; initialDepth = 689.824676; finalDepth = 707.571575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0408540000001 # Actual altitude: 67.0408540000001 # Commanded vehicle depth: 707.571575 # Seafloor depth: -773.204078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141355 meters # Minimum depth: 739.824676 meters looking forward 50.000000 meters along route # Maximum depth: 757.018604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 689.824676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776810; longitude = -121.984104; duration = 100; initialDepth = 673.533408; finalDepth = 689.824676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.193928 # Actual altitude: 67.193928 # Commanded vehicle depth: 689.824676 # Seafloor depth: -757.018604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141310 meters # Minimum depth: 723.533408 meters looking forward 50.000000 meters along route # Maximum depth: 739.603396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 673.533408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777216; longitude = -121.983858; duration = 100; initialDepth = 664.611563; finalDepth = 673.533408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.193928 # Actual altitude: 67.193928 # Commanded vehicle depth: 673.533408 # Seafloor depth: -739.603396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141264 meters # Minimum depth: 714.611563 meters looking forward 50.000000 meters along route # Maximum depth: 723.031586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 664.611563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777623; longitude = -121.983611; duration = 100; initialDepth = 650.059105; finalDepth = 664.611563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.069988 # Actual altitude: 66.069988 # Commanded vehicle depth: 664.611563 # Seafloor depth: -723.031586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141218 meters # Minimum depth: 700.059105 meters looking forward 50.000000 meters along route # Maximum depth: 714.635635 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 650.059105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778029; longitude = -121.983365; duration = 100; initialDepth = 637.316215; finalDepth = 650.059105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5765299999999 # Actual altitude: 64.5765299999999 # Commanded vehicle depth: 650.059105 # Seafloor depth: -714.635635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141173 meters # Minimum depth: 687.316215 meters looking forward 50.000000 meters along route # Maximum depth: 699.514989 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 637.316215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778435; longitude = -121.983118; duration = 100; initialDepth = 631.414185; finalDepth = 637.316215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5765299999999 # Actual altitude: 64.5765299999999 # Commanded vehicle depth: 637.316215 # Seafloor depth: -699.514989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141127 meters # Minimum depth: 681.414185 meters looking forward 50.000000 meters along route # Maximum depth: 687.231724 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 631.414185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778841; longitude = -121.982872; duration = 100; initialDepth = 619.827223; finalDepth = 631.414185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.198774 # Actual altitude: 62.198774 # Commanded vehicle depth: 631.414185 # Seafloor depth: -687.231724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.141081 meters # Minimum depth: 669.827223 meters looking forward 50.000000 meters along route # Maximum depth: 680.865673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 619.827223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779247; longitude = -121.982625; duration = 100; initialDepth = 607.077088; finalDepth = 619.827223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.03845 # Actual altitude: 61.03845 # Commanded vehicle depth: 619.827223 # Seafloor depth: -680.865673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.161154 meters # Minimum depth: 657.077088 meters looking forward 50.000000 meters along route # Maximum depth: 669.538484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 607.077088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779653; longitude = -121.982379; duration = 100; initialDepth = 595.617720; finalDepth = 607.077088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.461396 # Actual altitude: 62.461396 # Commanded vehicle depth: 607.077088 # Seafloor depth: -669.538484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.120871 meters # Minimum depth: 645.617720 meters looking forward 50.000000 meters along route # Maximum depth: 657.072787 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 595.617720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780060; longitude = -121.982132; duration = 100; initialDepth = 589.943445; finalDepth = 595.617720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.461396 # Actual altitude: 62.461396 # Commanded vehicle depth: 595.61772 # Seafloor depth: -657.072787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140943 meters # Minimum depth: 639.943445 meters looking forward 50.000000 meters along route # Maximum depth: 645.440356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 589.943445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780466; longitude = -121.981886; duration = 100; initialDepth = 583.285839; finalDepth = 589.943445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.455067 # Actual altitude: 61.455067 # Commanded vehicle depth: 589.943445 # Seafloor depth: -645.440356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140898 meters # Minimum depth: 633.285839 meters looking forward 50.000000 meters along route # Maximum depth: 639.932655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 583.285839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780872; longitude = -121.981639; duration = 100; initialDepth = 572.425956; finalDepth = 583.285839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6468159999999 # Actual altitude: 56.6468159999999 # Commanded vehicle depth: 583.285839 # Seafloor depth: -639.932655 # behavior reson { duration = 6; MB_Range = 198.26; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.99; MB_Bottom_Detect_Filter_Max_Range = 198.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140853 meters # Minimum depth: 622.425956 meters looking forward 50.000000 meters along route # Maximum depth: 633.012632 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 572.425956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781278; longitude = -121.981393; duration = 100; initialDepth = 564.141633; finalDepth = 572.425956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.586676 # Actual altitude: 60.586676 # Commanded vehicle depth: 572.425956 # Seafloor depth: -633.012632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140806 meters # Minimum depth: 614.141633 meters looking forward 50.000000 meters along route # Maximum depth: 622.369903 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 564.141633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781684; longitude = -121.981146; duration = 100; initialDepth = 548.979995; finalDepth = 564.141633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.586676 # Actual altitude: 60.586676 # Commanded vehicle depth: 564.141633 # Seafloor depth: -622.369903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140761 meters # Minimum depth: 598.979995 meters looking forward 50.000000 meters along route # Maximum depth: 613.820558 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 548.979995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782090; longitude = -121.980899; duration = 100; initialDepth = 533.063592; finalDepth = 548.979995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.840563 # Actual altitude: 64.840563 # Commanded vehicle depth: 548.979995 # Seafloor depth: -613.820558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140715 meters # Minimum depth: 583.063592 meters looking forward 50.000000 meters along route # Maximum depth: 598.870206 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 533.063592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782496; longitude = -121.980653; duration = 100; initialDepth = 517.301691; finalDepth = 533.063592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8066140000001 # Actual altitude: 65.8066140000001 # Commanded vehicle depth: 533.063592 # Seafloor depth: -598.870206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140670 meters # Minimum depth: 567.301691 meters looking forward 50.000000 meters along route # Maximum depth: 582.446125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 517.301691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782902; longitude = -121.980406; duration = 100; initialDepth = 500.423928; finalDepth = 517.301691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8066140000001 # Actual altitude: 65.8066140000001 # Commanded vehicle depth: 517.301691 # Seafloor depth: -582.446125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140623 meters # Minimum depth: 550.423928 meters looking forward 50.000000 meters along route # Maximum depth: 567.180841 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 500.423928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783309; longitude = -121.980160; duration = 100; initialDepth = 481.124257; finalDepth = 500.423928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7569129999999 # Actual altitude: 66.7569129999999 # Commanded vehicle depth: 500.423928 # Seafloor depth: -567.180841 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140578 meters # Minimum depth: 531.124257 meters looking forward 50.000000 meters along route # Maximum depth: 549.807406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 481.124257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783715; longitude = -121.979913; duration = 100; initialDepth = 466.422347; finalDepth = 481.124257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6831490000001 # Actual altitude: 68.6831490000001 # Commanded vehicle depth: 481.124257 # Seafloor depth: -549.807406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140532 meters # Minimum depth: 516.422347 meters looking forward 50.000000 meters along route # Maximum depth: 530.900651 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 466.422347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784121; longitude = -121.979667; duration = 100; initialDepth = 455.219102; finalDepth = 466.422347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6831490000001 # Actual altitude: 68.6831490000001 # Commanded vehicle depth: 466.422347 # Seafloor depth: -530.900651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140487 meters # Minimum depth: 505.219102 meters looking forward 50.000000 meters along route # Maximum depth: 515.752744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 455.219102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784527; longitude = -121.979420; duration = 100; initialDepth = 446.713399; finalDepth = 455.219102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4783040000001 # Actual altitude: 64.4783040000001 # Commanded vehicle depth: 455.219102 # Seafloor depth: -515.752744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140440 meters # Minimum depth: 496.713399 meters looking forward 50.000000 meters along route # Maximum depth: 505.048043 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 446.713399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784933; longitude = -121.979174; duration = 100; initialDepth = 437.174788; finalDepth = 446.713399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.533642 # Actual altitude: 60.533642 # Commanded vehicle depth: 446.713399 # Seafloor depth: -505.048043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140395 meters # Minimum depth: 487.174788 meters looking forward 50.000000 meters along route # Maximum depth: 496.327796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 437.174788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785339; longitude = -121.978927; duration = 100; initialDepth = 421.705354; finalDepth = 437.174788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.153008 # Actual altitude: 59.153008 # Commanded vehicle depth: 437.174788 # Seafloor depth: -496.327796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.165218 meters # Minimum depth: 471.705354 meters looking forward 50.000000 meters along route # Maximum depth: 486.969581 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 421.705354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785745; longitude = -121.978681; duration = 100; initialDepth = 404.557379; finalDepth = 421.705354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.264227 # Actual altitude: 65.264227 # Commanded vehicle depth: 421.705354 # Seafloor depth: -486.969581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.115435 meters # Minimum depth: 454.557379 meters looking forward 50.000000 meters along route # Maximum depth: 471.702784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 404.557379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786152; longitude = -121.978434; duration = 100; initialDepth = 382.133353; finalDepth = 404.557379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.145405 # Actual altitude: 67.145405 # Commanded vehicle depth: 404.557379 # Seafloor depth: -471.702784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140257 meters # Minimum depth: 432.133353 meters looking forward 50.000000 meters along route # Maximum depth: 454.039364 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 382.133353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786558; longitude = -121.978188; duration = 100; initialDepth = 360.357804; finalDepth = 382.133353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.906011 # Actual altitude: 71.906011 # Commanded vehicle depth: 382.133353 # Seafloor depth: -454.039364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140212 meters # Minimum depth: 410.357804 meters looking forward 50.000000 meters along route # Maximum depth: 432.033722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 360.357804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786964; longitude = -121.977941; duration = 100; initialDepth = 332.602323; finalDepth = 360.357804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.906011 # Actual altitude: 71.906011 # Commanded vehicle depth: 360.357804 # Seafloor depth: -432.033722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140167 meters # Minimum depth: 382.602323 meters looking forward 50.000000 meters along route # Maximum depth: 409.899190 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 332.602323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787370; longitude = -121.977695; duration = 100; initialDepth = 309.602025; finalDepth = 332.602323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.296867 # Actual altitude: 77.296867 # Commanded vehicle depth: 332.602323 # Seafloor depth: -409.899190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140120 meters # Minimum depth: 359.602025 meters looking forward 50.000000 meters along route # Maximum depth: 382.467709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 309.602025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787776; longitude = -121.977448; duration = 100; initialDepth = 296.576386; finalDepth = 309.602025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.296867 # Actual altitude: 77.296867 # Commanded vehicle depth: 309.602025 # Seafloor depth: -382.467709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140075 meters # Minimum depth: 346.576386 meters looking forward 50.000000 meters along route # Maximum depth: 358.973343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 296.576386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788182; longitude = -121.977202; duration = 100; initialDepth = 286.104707; finalDepth = 296.576386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.865684 # Actual altitude: 72.865684 # Commanded vehicle depth: 296.576386 # Seafloor depth: -358.973343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140029 meters # Minimum depth: 336.104707 meters looking forward 50.000000 meters along route # Maximum depth: 346.547641 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 286.104707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788588; longitude = -121.976955; duration = 100; initialDepth = 277.190087; finalDepth = 286.104707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.396957 # Actual altitude: 62.396957 # Commanded vehicle depth: 286.104707 # Seafloor depth: -346.547641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139983 meters # Minimum depth: 327.190087 meters looking forward 50.000000 meters along route # Maximum depth: 335.914583 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 277.190087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788994; longitude = -121.976709; duration = 100; initialDepth = 268.707415; finalDepth = 277.190087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.442934 # Actual altitude: 60.442934 # Commanded vehicle depth: 277.190087 # Seafloor depth: -335.914583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139938 meters # Minimum depth: 318.707415 meters looking forward 50.000000 meters along route # Maximum depth: 327.087448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 268.707415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789401; longitude = -121.976462; duration = 100; initialDepth = 258.915758; finalDepth = 268.707415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.724496 # Actual altitude: 58.724496 # Commanded vehicle depth: 268.707415 # Seafloor depth: -327.087448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139891 meters # Minimum depth: 308.915758 meters looking forward 50.000000 meters along route # Maximum depth: 318.379302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 258.915758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789807; longitude = -121.976216; duration = 100; initialDepth = 250.183989; finalDepth = 258.915758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.463544 # Actual altitude: 59.463544 # Commanded vehicle depth: 258.915758 # Seafloor depth: -318.379302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139846 meters # Minimum depth: 300.183989 meters looking forward 50.000000 meters along route # Maximum depth: 308.824449 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 250.183989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790213; longitude = -121.975969; duration = 100; initialDepth = 240.686543; finalDepth = 250.183989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.463544 # Actual altitude: 59.463544 # Commanded vehicle depth: 250.183989 # Seafloor depth: -308.824449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139801 meters # Minimum depth: 290.686543 meters looking forward 50.000000 meters along route # Maximum depth: 299.811976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 240.686543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790619; longitude = -121.975722; duration = 100; initialDepth = 230.940257; finalDepth = 240.686543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.125433 # Actual altitude: 59.125433 # Commanded vehicle depth: 240.686543 # Seafloor depth: -299.811976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139754 meters # Minimum depth: 280.940257 meters looking forward 50.000000 meters along route # Maximum depth: 290.499164 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.940257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791025; longitude = -121.975476; duration = 100; initialDepth = 219.966806; finalDepth = 230.940257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.558907 # Actual altitude: 59.558907 # Commanded vehicle depth: 230.940257 # Seafloor depth: -290.499164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139709 meters # Minimum depth: 269.966806 meters looking forward 50.000000 meters along route # Maximum depth: 280.442216 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 219.966806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791431; longitude = -121.975229; duration = 100; initialDepth = 210.623507; finalDepth = 219.966806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.47541 # Actual altitude: 60.47541 # Commanded vehicle depth: 219.966806 # Seafloor depth: -280.442216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.169282 meters # Minimum depth: 260.623507 meters looking forward 50.000000 meters along route # Maximum depth: 269.973291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 210.623507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791837; longitude = -121.974983; duration = 100; initialDepth = 200.296484; finalDepth = 210.623507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.47541 # Actual altitude: 60.47541 # Commanded vehicle depth: 210.623507 # Seafloor depth: -269.763950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.109999 meters # Minimum depth: 250.296484 meters looking forward 50.000000 meters along route # Maximum depth: 260.617151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 200.296484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792244; longitude = -121.974736; duration = 100; initialDepth = 188.797567; finalDepth = 200.296484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.320667 # Actual altitude: 60.320667 # Commanded vehicle depth: 200.296484 # Seafloor depth: -260.617151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139571 meters # Minimum depth: 238.797567 meters looking forward 50.000000 meters along route # Maximum depth: 250.113647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 188.797567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792650; longitude = -121.974490; duration = 100; initialDepth = 178.182172; finalDepth = 188.797567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.31608 # Actual altitude: 61.31608 # Commanded vehicle depth: 188.797567 # Seafloor depth: -250.113647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139526 meters # Minimum depth: 228.182172 meters looking forward 50.000000 meters along route # Maximum depth: 238.780460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 178.182172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793056; longitude = -121.974243; duration = 100; initialDepth = 166.591200; finalDepth = 178.182172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.31608 # Actual altitude: 61.31608 # Commanded vehicle depth: 178.182172 # Seafloor depth: -238.780460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139480 meters # Minimum depth: 216.591200 meters looking forward 50.000000 meters along route # Maximum depth: 227.952479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 166.591200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793462; longitude = -121.973997; duration = 100; initialDepth = 155.801706; finalDepth = 166.591200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.361279 # Actual altitude: 61.361279 # Commanded vehicle depth: 166.5912 # Seafloor depth: -227.952479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139435 meters # Minimum depth: 205.801706 meters looking forward 50.000000 meters along route # Maximum depth: 216.532836 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 155.801706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793868; longitude = -121.973750; duration = 100; initialDepth = 147.229907; finalDepth = 155.801706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.361279 # Actual altitude: 61.361279 # Commanded vehicle depth: 155.801706 # Seafloor depth: -216.532836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139389 meters # Minimum depth: 197.229907 meters looking forward 50.000000 meters along route # Maximum depth: 205.532787 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 147.229907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794274; longitude = -121.973504; duration = 100; initialDepth = 140.102805; finalDepth = 147.229907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.73113 # Actual altitude: 60.73113 # Commanded vehicle depth: 147.229907 # Seafloor depth: -205.532787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139343 meters # Minimum depth: 190.102805 meters looking forward 50.000000 meters along route # Maximum depth: 197.163982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 140.102805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794680; longitude = -121.973257; duration = 100; initialDepth = 130.107536; finalDepth = 140.102805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.30288 # Actual altitude: 58.30288 # Commanded vehicle depth: 140.102805 # Seafloor depth: -197.163982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139297 meters # Minimum depth: 180.107536 meters looking forward 50.000000 meters along route # Maximum depth: 189.805111 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 130.107536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795086; longitude = -121.973011; duration = 100; initialDepth = 118.251219; finalDepth = 130.107536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.697575 # Actual altitude: 59.697575 # Commanded vehicle depth: 130.107536 # Seafloor depth: -189.805111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139251 meters # Minimum depth: 168.251219 meters looking forward 50.000000 meters along route # Maximum depth: 179.937631 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 118.251219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795493; longitude = -121.972764; duration = 100; initialDepth = 103.934571; finalDepth = 118.251219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.686412 # Actual altitude: 61.686412 # Commanded vehicle depth: 118.251219 # Seafloor depth: -179.937631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139206 meters # Minimum depth: 153.934571 meters looking forward 50.000000 meters along route # Maximum depth: 167.968149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 103.934571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795899; longitude = -121.972518; duration = 100; initialDepth = 91.771275; finalDepth = 103.934571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.033578 # Actual altitude: 64.033578 # Commanded vehicle depth: 103.934571 # Seafloor depth: -167.968149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139160 meters # Minimum depth: 141.771275 meters looking forward 50.000000 meters along route # Maximum depth: 153.727051 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 91.771275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796305; longitude = -121.972271; duration = 100; initialDepth = 77.376896; finalDepth = 91.771275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.033578 # Actual altitude: 64.033578 # Commanded vehicle depth: 91.771275 # Seafloor depth: -153.727051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139114 meters # Minimum depth: 127.376896 meters looking forward 50.000000 meters along route # Maximum depth: 140.977188 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.376896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796711; longitude = -121.972025; duration = 100; initialDepth = 65.973237; finalDepth = 77.376896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.600292 # Actual altitude: 63.600292 # Commanded vehicle depth: 77.376896 # Seafloor depth: -140.977188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139069 meters # Minimum depth: 115.973237 meters looking forward 50.000000 meters along route # Maximum depth: 127.162885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 65.973237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797117; longitude = -121.971778; duration = 100; initialDepth = 60.174660; finalDepth = 65.973237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.600292 # Actual altitude: 63.600292 # Commanded vehicle depth: 65.973237 # Seafloor depth: -127.162885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139023 meters # Minimum depth: 110.174660 meters looking forward 50.000000 meters along route # Maximum depth: 115.421266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.174660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797523; longitude = -121.971532; duration = 100; initialDepth = 56.231134; finalDepth = 60.174660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.189648 # Actual altitude: 61.189648 # Commanded vehicle depth: 60.17466 # Seafloor depth: -115.421266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.173346 meters # Minimum depth: 106.231134 meters looking forward 50.000000 meters along route # Maximum depth: 110.152167 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 56.231134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797929; longitude = -121.971285; duration = 100; initialDepth = 54.482269; finalDepth = 56.231134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.246606 # Actual altitude: 55.246606 # Commanded vehicle depth: 56.231134 # Seafloor depth: -110.152167 # behavior reson { duration = 6; MB_Range = 193.36; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 193.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.104562 meters # Minimum depth: 104.482269 meters looking forward 50.000000 meters along route # Maximum depth: 106.549591 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 54.482269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798336; longitude = -121.971038; duration = 100; initialDepth = 53.406836; finalDepth = 54.482269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.921033 # Actual altitude: 53.921033 # Commanded vehicle depth: 54.482269 # Seafloor depth: -106.228520 # behavior reson { duration = 6; MB_Range = 188.72; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 188.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138886 meters # Minimum depth: 103.406836 meters looking forward 50.000000 meters along route # Maximum depth: 104.514350 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 53.406836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798742; longitude = -121.970792; duration = 100; initialDepth = 52.623845; finalDepth = 53.406836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.746251 # Actual altitude: 51.746251 # Commanded vehicle depth: 53.406836 # Seafloor depth: -104.514350 # behavior reson { duration = 6; MB_Range = 181.11; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 181.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138840 meters # Minimum depth: 102.623845 meters looking forward 50.000000 meters along route # Maximum depth: 103.788660 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 52.623845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799148; longitude = -121.970546; duration = 100; initialDepth = 51.047779; finalDepth = 52.623845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.107514 # Actual altitude: 51.107514 # Commanded vehicle depth: 52.623845 # Seafloor depth: -103.412310 # behavior reson { duration = 6; MB_Range = 178.88; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 178.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138794 meters # Minimum depth: 101.047779 meters looking forward 50.000000 meters along route # Maximum depth: 102.558387 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 51.047779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799554; longitude = -121.970299; duration = 100; initialDepth = 49.545397; finalDepth = 51.047779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.486826 # Actual altitude: 51.486826 # Commanded vehicle depth: 51.047779 # Seafloor depth: -102.534605 # behavior reson { duration = 6; MB_Range = 180.20; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 180.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.658104 meters # Minimum depth: 99.545397 meters looking forward 50.000000 meters along route # Maximum depth: 101.488332 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 49.545397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799960; longitude = -121.970052; duration = 103; initialDepth = 49.545397; finalDepth = 49.545397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.883032 # Actual altitude: 51.883032 # Commanded vehicle depth: 49.545397 # Seafloor depth: -101.428429 # behavior reson { duration = 6; MB_Range = 181.59; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 181.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - 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: 51.883032 # Sonar parameter altitude: 51.883032 # Commanded vehicle depth: 49.545397 # Seafloor depth: -100.014852 # behavior reson { duration = 6; MB_Power = 220; MB_Range = 181.59; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 181.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 99.545397 meters looking forward 50.000000 meters along route # Maximum depth: 101.488332 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1007.315831 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 49.545397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800379; longitude = -121.969798; duration = 600; initialDepth = 49.545397; finalDepth = 49.545397; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 25.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 90.0; 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 = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################