# 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_2v1.rte # Mission File: 201210_WallTest_2v1.cfg # Distance: 15104.570875 (m) # Estimated Time: 11909 (s) 3.308 (hr) # Abort Time: 15482 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1177 (s) # Way Points: 43 # Route Points: 288 # 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) # Minimum Vehicle Altitude 1: 25 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 13 (m) # Desired Vehicle Altitude 1: 25 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 75 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 982.601294 (m) # Abort Vehicle Depth: 995.101294 (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 -99.945450 0.000000 3 # 1 -121.984601 36.775992 -790.414108 3010.737952 1 # 2 -121.987772 36.773956 -932.025497 3372.827331 3 # 3 -121.992553 36.773648 -931.229797 3800.887355 1 # 4 -121.996244 36.773739 -950.289876 4130.425228 1 # 5 -121.999758 36.773798 -966.801712 4444.141308 1 # 6 -122.003192 36.774099 -977.229477 4752.431065 1 # 7 -122.005133 36.774429 -984.006149 4929.485999 1 # 8 -122.007261 36.775150 -989.483429 5135.559446 1 # 9 -122.010919 36.777524 -994.986343 5555.009417 3 # 10 -122.008269 36.778756 -983.897705 5828.156967 1 # 11 -121.996174 36.779657 -812.080643 6912.150037 1 # 12 -121.994718 36.778576 -830.279938 7088.970895 1 # 13 -121.993262 36.777584 -836.892670 7259.251099 1 # 14 -121.991209 36.777254 -843.043045 7446.090199 1 # 15 -121.989454 36.776953 -858.530563 7606.233718 1 # 16 -121.987630 36.775926 -899.511002 7804.928182 1 # 17 -121.987630 36.774719 -930.523087 7938.833010 5 # 18 -121.989677 36.773829 -931.412628 8146.497003 1 # 19 -121.992553 36.773648 -931.229797 8403.958289 1 # 20 -121.996248 36.773738 -951.224960 8733.880478 1 # 21 -121.999758 36.773798 -966.801712 9047.210867 1 # 22 -122.003192 36.774099 -977.229477 9355.500624 1 # 23 -122.005133 36.774429 -984.006149 9532.555558 1 # 24 -122.007261 36.775150 -989.483429 9738.629005 1 # 25 -122.010919 36.777524 -994.986343 10158.078976 5 # 26 -122.008271 36.778756 -983.802409 10431.067339 1 # 27 -121.996169 36.779657 -811.800456 11515.687249 1 # 28 -121.994712 36.778576 -830.147298 11692.588423 1 # 29 -121.993255 36.777584 -836.731852 11862.868990 1 # 30 -121.991171 36.777242 -843.036377 12052.714381 1 # 31 -121.989431 36.776947 -858.774577 12211.448864 1 # 32 -121.987630 36.775926 -899.300456 12408.057310 1 # 33 -121.987638 36.774713 -930.604004 12542.697101 7 # 34 -121.989670 36.773835 -931.499756 12748.502972 1 # 35 -121.992546 36.773649 -931.022054 13006.019206 1 # 36 -121.996236 36.773727 -949.132568 13335.491270 1 # 37 -121.999732 36.773799 -966.778320 13647.616709 1 # 38 -122.003169 36.774100 -977.498617 13956.110350 1 # 39 -122.005111 36.774430 -983.799886 14133.288974 1 # 40 -122.007262 36.775151 -989.435872 14341.292725 1 # 41 -122.010923 36.777524 -995.006022 14760.856440 1 # 42 -122.008047 36.779585 -981.406189 15104.570875 8 # # A total of 288 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 15104.570875 #define MISSION_TIME 11909 #define MISSION_TIMEOUT 15482 #define DEPTH_MAX 982.601294 #define DEPTH_ABORT 995.101294 #define ALTITUDE_DESIRED 25.000000 #define ALTITUDE_MIN 25.000000 #define ALTITUDE_ABORT 12.000000 #define DELTA_DEPTH_RESTART 13.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 75.000000 #define DEPTH_CONSTANT 50.000000 #define DEPTH_CONSTANT2 50.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 2.000000 #define DESCENDPITCH -45.000000 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; deltaDepthRestart = DELTA_DEPTH_RESTART; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1177; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = ASCENTDESCENT_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 39.266741 meters # Minimum depth: 981.406189 meters looking forward 50.000000 meters along route # Maximum depth: 986.693346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.406189 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 = 911.771782; finalDepth = 906.406189; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 906.406189 # Seafloor depth: -981.406189 # behavior reson { duration = RESON_DURATION; 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 = 22.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.889817 meters # Minimum depth: 986.771782 meters looking forward 50.000000 meters along route # Maximum depth: 991.535192 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 911.771782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779350; longitude = -122.008376; duration = 101; initialDepth = 916.627129; finalDepth = 911.771782; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 911.771782 # Seafloor depth: -986.771782 # behavior reson { duration = RESON_DURATION; 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 = 22.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 50.889924 meters # Minimum depth: 991.627129 meters looking forward 50.000000 meters along route # Maximum depth: 994.535070 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.627129 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 = 919.354833; finalDepth = 916.627129; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 916.627129 # Seafloor depth: -991.627129 # behavior reson { duration = RESON_DURATION; 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 = 22.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 50.890031 meters # Minimum depth: 994.354833 meters looking forward 50.000000 meters along route # Maximum depth: 994.822413 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.354833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778739; longitude = -122.009227; duration = 101; initialDepth = 919.813243; finalDepth = 919.354833; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 919.354833 # Seafloor depth: -994.354833 # behavior reson { duration = RESON_DURATION; 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 = 22.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 50.890138 meters # Minimum depth: 994.813243 meters looking forward 50.000000 meters along route # Maximum depth: 994.990372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.813243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778434; longitude = -122.009653; duration = 101; initialDepth = 919.697994; finalDepth = 919.813243; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.022338 # Actual altitude: 75.022338 # Commanded vehicle depth: 919.813243 # Seafloor depth: -994.835581 # behavior reson { duration = RESON_DURATION; 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 = 22.51; 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 42 # Segment length 50.783856 meters # Minimum depth: 994.697994 meters looking forward 50.000000 meters along route # Maximum depth: 995.083887 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.697994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778129; longitude = -122.010079; duration = 101; initialDepth = 919.666374; finalDepth = 919.697994; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.214653 # Actual altitude: 75.214653 # Commanded vehicle depth: 919.697994 # Seafloor depth: -994.912647 # behavior reson { duration = RESON_DURATION; 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 = 22.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 50.103928 meters # Minimum depth: 994.666374 meters looking forward 50.000000 meters along route # Maximum depth: 994.931752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.666374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777825; longitude = -122.010504; duration = 100; initialDepth = 919.403329; finalDepth = 919.666374; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.214653 # Actual altitude: 75.214653 # Commanded vehicle depth: 919.666374 # Seafloor depth: -994.833144 # behavior reson { duration = RESON_DURATION; 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 = 22.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 41 # Segment length 61.606318 meters # Minimum depth: 994.403329 meters looking forward 50.000000 meters along route # Maximum depth: 995.193607 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.403329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.010923; duration = 123; # abortOnTimeout = True; initialDepth = 918.898505; finalDepth = 919.403329; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.602693 # Actual altitude: 75.602693 # Commanded vehicle depth: 919.403329 # Seafloor depth: -995.006022 # behavior reson { duration = RESON_DURATION; 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 = 22.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.984671 meters # Minimum depth: 993.898505 meters looking forward 50.000000 meters along route # Maximum depth: 994.721664 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 918.898505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777176; longitude = -122.010385; duration = 101; initialDepth = 894.029378; finalDepth = 918.898505; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.602693 # Actual altitude: 75.602693 # Commanded vehicle depth: 918.898505 # Seafloor depth: -994.370714 # behavior reson { duration = RESON_DURATION; 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 = 22.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 50.984790 meters # Minimum depth: 969.029378 meters looking forward 50.000000 meters along route # Maximum depth: 996.167949 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 894.029378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776887; longitude = -122.009941; duration = 101; initialDepth = 894.002211; finalDepth = 894.029378; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.741066 # Actual altitude: 100 # Commanded vehicle depth: 894.029378 # Seafloor depth: -994.770444 # behavior reson { duration = RESON_DURATION; 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 51.342585 meters # Minimum depth: 969.002211 meters looking forward 50.000000 meters along route # Maximum depth: 994.336366 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 894.002211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776599; longitude = -122.009496; duration = 102; initialDepth = 917.943651; finalDepth = 894.002211; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.741066 # Actual altitude: 100 # Commanded vehicle depth: 894.002211 # Seafloor depth: -969.107173 # behavior reson { duration = RESON_DURATION; 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 51.375221 meters # Minimum depth: 993.757872 meters looking forward 50.000000 meters along route # Maximum depth: 994.843001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 917.943651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776309; longitude = -122.009048; duration = 102; initialDepth = 917.852457; finalDepth = 917.943651; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5279558902646 # Actual altitude: 76.5279558902646 # Commanded vehicle depth: 917.943651109735 # Seafloor depth: -994.471607 # behavior reson { duration = RESON_DURATION; 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 = 22.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 51.375343 meters # Minimum depth: 992.852457 meters looking forward 50.000000 meters along route # Maximum depth: 994.901466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 917.852457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776018; longitude = -122.008600; duration = 102; initialDepth = 914.788184; finalDepth = 917.852457; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5279558902646 # Actual altitude: 76.5279558902646 # Commanded vehicle depth: 917.852457 # Seafloor depth: -993.761016 # behavior reson { duration = RESON_DURATION; 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 = 22.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 51.375463 meters # Minimum depth: 989.788184 meters looking forward 50.000000 meters along route # Maximum depth: 994.231118 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 914.788184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775727; longitude = -122.008151; duration = 102; initialDepth = 914.479183; finalDepth = 914.788184; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.442934 # Actual altitude: 79.442934 # Commanded vehicle depth: 914.788184 # Seafloor depth: -994.231118 # behavior reson { duration = RESON_DURATION; 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 = 23.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 50.519324 meters # Minimum depth: 989.479183 meters looking forward 50.000000 meters along route # Maximum depth: 991.001373 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 914.479183 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 = 912.560410; finalDepth = 914.479183; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.442934 # Actual altitude: 79.442934 # Commanded vehicle depth: 914.479183 # Seafloor depth: -990.527314 # behavior reson { duration = RESON_DURATION; 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 = 23.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 40 # Segment length 52.723008 meters # Minimum depth: 987.560410 meters looking forward 50.000000 meters along route # Maximum depth: 990.233643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 912.560410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775151; longitude = -122.007262; duration = 105; # abortOnTimeout = True; depth = 912.610414; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 76.875462 # Actual altitude: 76.875462 # Commanded vehicle depth: 912.56041 # Seafloor depth: -989.435872 # behavior reson { duration = RESON_DURATION; 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 = 23.06; 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_wall behavior during line 40 # Segment length 52.000885 meters # Minimum depth: 987.610414 meters looking forward 50.000000 meters along route # Maximum depth: 988.019453 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 912.610414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774968; longitude = -122.006717; duration = 104; depth = 911.859222; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 76.875462 # Actual altitude: 76.875462 # Commanded vehicle depth: 912.610414 # Seafloor depth: -987.786297 # behavior reson { duration = RESON_DURATION; 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 = 23.06; 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_wall behavior during line 40 # Segment length 52.000993 meters # Minimum depth: 986.859222 meters looking forward 50.000000 meters along route # Maximum depth: 987.505878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 911.859222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774788; longitude = -122.006179; duration = 104; depth = 908.872006; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 75.646656 # Actual altitude: 75.646656 # Commanded vehicle depth: 911.859222 # Seafloor depth: -987.505878 # behavior reson { duration = RESON_DURATION; 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 = 22.69; 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_wall behavior during line 40 # Segment length 51.278865 meters # Minimum depth: 983.872006 meters looking forward 50.000000 meters along route # Maximum depth: 986.649490 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 908.872006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774608; longitude = -122.005641; duration = 102; depth = 906.183094; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.777484 # Actual altitude: 77.777484 # Commanded vehicle depth: 908.872006 # Seafloor depth: -986.649490 # behavior reson { duration = RESON_DURATION; 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 = 23.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 39 # Segment length 74.278634 meters # Minimum depth: 981.183094 meters looking forward 50.000000 meters along route # Maximum depth: 983.799886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.183094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774430; longitude = -122.005111; duration = 148; # abortOnTimeout = True; depth = 905.516184; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.777484 # Actual altitude: 77.777484 # Commanded vehicle depth: 906.183094 # Seafloor depth: -983.799886 # behavior reson { duration = RESON_DURATION; 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 = 23.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 39 # Segment length 51.109233 meters # Minimum depth: 980.516184 meters looking forward 50.000000 meters along route # Maximum depth: 981.536774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 905.516184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774292; longitude = -122.004297; duration = 102; depth = 902.071639; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.616792 # Actual altitude: 77.616792 # Commanded vehicle depth: 905.516184 # Seafloor depth: -981.170866 # behavior reson { duration = RESON_DURATION; 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 = 23.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 39 # Segment length 51.790757 meters # Minimum depth: 977.071639 meters looking forward 50.000000 meters along route # Maximum depth: 981.412771 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 902.071639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774196; longitude = -122.003736; duration = 103; depth = 900.077298; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 79.341132 # Actual altitude: 79.341132 # Commanded vehicle depth: 902.071639 # Seafloor depth: -981.412771 # behavior reson { duration = RESON_DURATION; 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 = 23.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 38 # Segment length 55.662880 meters # Minimum depth: 975.077298 meters looking forward 50.000000 meters along route # Maximum depth: 977.976794 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 900.077298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774100; longitude = -122.003169; duration = 111; # abortOnTimeout = True; depth = 894.578700; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 79.341132 # Actual altitude: 79.341132 # Commanded vehicle depth: 900.077298 # Seafloor depth: -977.498617 # behavior reson { duration = RESON_DURATION; 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 = 23.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 38 # Segment length 50.297822 meters # Minimum depth: 969.578700 meters looking forward 50.000000 meters along route # Maximum depth: 977.141479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 894.578700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774045; longitude = -122.002549; duration = 100; depth = 892.604490; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 82.207317 # Actual altitude: 82.207317 # Commanded vehicle depth: 894.5787 # Seafloor depth: -976.786017 # behavior reson { duration = RESON_DURATION; 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 = 24.66; 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_wall behavior during line 38 # Segment length 50.297859 meters # Minimum depth: 967.604490 meters looking forward 50.000000 meters along route # Maximum depth: 973.638385 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 892.604490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773997; longitude = -122.001988; duration = 100; depth = 894.656192; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 82.207317 # Actual altitude: 82.207317 # Commanded vehicle depth: 892.60449 # Seafloor depth: -968.428037 # behavior reson { duration = RESON_DURATION; 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 = 24.66; 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_wall behavior during line 38 # Segment length 50.297896 meters # Minimum depth: 969.656192 meters looking forward 50.000000 meters along route # Maximum depth: 973.389545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 894.656192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773948; longitude = -122.001428; duration = 100; depth = 892.800842; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 78.733353 # Actual altitude: 78.733353 # Commanded vehicle depth: 894.656192 # Seafloor depth: -973.389545 # behavior reson { duration = RESON_DURATION; 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 = 23.62; 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_wall behavior during line 38 # Segment length 50.297934 meters # Minimum depth: 967.800842 meters looking forward 50.000000 meters along route # Maximum depth: 969.766172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 892.800842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773899; longitude = -122.000868; duration = 100; depth = 891.840650; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 78.733353 # Actual altitude: 78.733353 # Commanded vehicle depth: 892.800842 # Seafloor depth: -969.076655 # behavior reson { duration = RESON_DURATION; 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 = 23.62; 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_wall behavior during line 38 # Segment length 51.639250 meters # Minimum depth: 966.840650 meters looking forward 50.000000 meters along route # Maximum depth: 969.416085 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 891.840650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773850; longitude = -122.000308; duration = 103; depth = 890.022967; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 76.275813 # Actual altitude: 76.275813 # Commanded vehicle depth: 891.84065 # Seafloor depth: -967.582216 # behavior reson { duration = RESON_DURATION; 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 = 22.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior to get to end of line 37 # Segment length 60.691018 meters # Minimum depth: 965.022967 meters looking forward 50.000000 meters along route # Maximum depth: 966.803373 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 890.022967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773799; longitude = -121.999732; duration = 121; # abortOnTimeout = True; depth = 887.753497; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 76.755353 # Actual altitude: 76.755353 # Commanded vehicle depth: 890.022967 # Seafloor depth: -966.778320 # behavior reson { duration = RESON_DURATION; 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 = 23.03; 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_wall behavior during line 37 # Segment length 50.020084 meters # Minimum depth: 962.753497 meters looking forward 50.000000 meters along route # Maximum depth: 965.285760 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 887.753497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773785; longitude = -121.999053; duration = 100; depth = 886.061977; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.5322629999999 # Actual altitude: 77.5322629999999 # Commanded vehicle depth: 887.753497 # Seafloor depth: -965.285760 # behavior reson { duration = RESON_DURATION; 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 = 23.26; 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_wall behavior during line 37 # Segment length 50.020097 meters # Minimum depth: 961.061977 meters looking forward 50.000000 meters along route # Maximum depth: 962.665776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 886.061977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773774; longitude = -121.998492; duration = 100; depth = 883.896154; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.5322629999999 # Actual altitude: 77.5322629999999 # Commanded vehicle depth: 886.061977 # Seafloor depth: -962.665776 # behavior reson { duration = RESON_DURATION; 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 = 23.26; 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_wall behavior during line 37 # Segment length 50.020110 meters # Minimum depth: 958.896154 meters looking forward 50.000000 meters along route # Maximum depth: 961.110961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 883.896154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773762; longitude = -121.997932; duration = 100; depth = 876.805976; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 77.214807 # Actual altitude: 77.214807 # Commanded vehicle depth: 883.896154 # Seafloor depth: -961.110961 # behavior reson { duration = RESON_DURATION; 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 = 23.16; 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_wall behavior during line 37 # Segment length 50.020124 meters # Minimum depth: 951.805976 meters looking forward 50.000000 meters along route # Maximum depth: 958.897382 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 876.805976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773751; longitude = -121.997372; duration = 100; depth = 870.189737; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 82.091406 # Actual altitude: 82.091406 # Commanded vehicle depth: 876.805976 # Seafloor depth: -958.897382 # behavior reson { duration = RESON_DURATION; 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 = 24.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 37 # Segment length 51.354006 meters # Minimum depth: 945.189737 meters looking forward 50.000000 meters along route # Maximum depth: 955.582701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 870.189737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773739; longitude = -121.996811; duration = 102; depth = 871.124351; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 82.091406 # Actual altitude: 82.091406 # Commanded vehicle depth: 870.189737 # Seafloor depth: -951.865484 # behavior reson { duration = RESON_DURATION; 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 = 24.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 78.699753 meters # Minimum depth: 946.124351 meters looking forward 50.000000 meters along route # Maximum depth: 957.817436 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 871.124351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773727; longitude = -121.996236; duration = 157; # abortOnTimeout = True; initialDepth = 878.240046; finalDepth = 871.124351; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.675747 # Actual altitude: 81.675747 # Commanded vehicle depth: 871.124351 # Seafloor depth: -949.132568 # behavior reson { duration = RESON_DURATION; 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 = 24.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.021046 meters # Minimum depth: 953.240046 meters looking forward 50.000000 meters along route # Maximum depth: 965.122722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.240046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773709; longitude = -121.995355; duration = 100; initialDepth = 876.602978; finalDepth = 878.240046; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0082169999999 # Actual altitude: 78.0082169999999 # Commanded vehicle depth: 878.240046 # Seafloor depth: -956.050698 # behavior reson { duration = RESON_DURATION; 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 = 23.40; 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 36 # Segment length 50.021059 meters # Minimum depth: 951.602978 meters looking forward 50.000000 meters along route # Maximum depth: 957.488996 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 876.602978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773697; longitude = -121.994794; duration = 100; initialDepth = 873.249868; finalDepth = 876.602978; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.810652 # Actual altitude: 77.810652 # Commanded vehicle depth: 876.602978 # Seafloor depth: -953.243982 # behavior reson { duration = RESON_DURATION; 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 = 23.34; 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 36 # Segment length 50.021073 meters # Minimum depth: 948.249868 meters looking forward 50.000000 meters along route # Maximum depth: 951.549101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 873.249868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773685; longitude = -121.994234; duration = 100; initialDepth = 865.619195; finalDepth = 873.249868; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.299233 # Actual altitude: 78.299233 # Commanded vehicle depth: 873.249868 # Seafloor depth: -951.549101 # behavior reson { duration = RESON_DURATION; 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 = 23.49; 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 36 # Segment length 50.021086 meters # Minimum depth: 940.619195 meters looking forward 50.000000 meters along route # Maximum depth: 948.204050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 865.619195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773673; longitude = -121.993674; duration = 100; initialDepth = 856.095501; finalDepth = 865.619195; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5848550000001 # Actual altitude: 82.5848550000001 # Commanded vehicle depth: 865.619195 # Seafloor depth: -948.204050 # behavior reson { duration = RESON_DURATION; 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 = 24.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 50.688047 meters # Minimum depth: 931.095501 meters looking forward 50.000000 meters along route # Maximum depth: 940.116150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 856.095501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773661; longitude = -121.993114; duration = 101; initialDepth = 849.202177; finalDepth = 856.095501; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.0206489999999 # Actual altitude: 84.0206489999999 # Commanded vehicle depth: 856.095501 # Seafloor depth: -940.116150 # behavior reson { duration = RESON_DURATION; 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 = 25.21; 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 to get to end of line 35 # Segment length 55.516527 meters # Minimum depth: 924.202177 meters looking forward 50.000000 meters along route # Maximum depth: 931.469010 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.202177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773649; longitude = -121.992546; duration = 111; # abortOnTimeout = True; initialDepth = 845.674288; finalDepth = 849.202177; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.0206489999999 # Actual altitude: 84.0206489999999 # Commanded vehicle depth: 849.202177 # Seafloor depth: -931.022054 # behavior reson { duration = RESON_DURATION; 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 = 25.21; 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 35 # Segment length 50.165517 meters # Minimum depth: 920.674288 meters looking forward 50.000000 meters along route # Maximum depth: 931.313558 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 845.674288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773689; longitude = -121.991926; duration = 100; initialDepth = 848.736775; finalDepth = 845.674288; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.088498 # Actual altitude: 83.088498 # Commanded vehicle depth: 845.674288 # Seafloor depth: -928.762786 # behavior reson { duration = RESON_DURATION; 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 = 24.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 50.165500 meters # Minimum depth: 923.736775 meters looking forward 50.000000 meters along route # Maximum depth: 936.974221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 848.736775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773726; longitude = -121.991365; duration = 100; initialDepth = 853.596347; finalDepth = 848.736775; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.088498 # Actual altitude: 83.088498 # Commanded vehicle depth: 848.736775 # Seafloor depth: -923.736775 # behavior reson { duration = RESON_DURATION; 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 = 24.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 50.165481 meters # Minimum depth: 928.596347 meters looking forward 50.000000 meters along route # Maximum depth: 930.348560 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 853.596347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773762; longitude = -121.990805; duration = 100; initialDepth = 853.903504; finalDepth = 853.596347; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.752213 # Actual altitude: 76.752213 # Commanded vehicle depth: 853.596347 # Seafloor depth: -930.348560 # behavior reson { duration = RESON_DURATION; 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 = 23.03; 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 35 # Segment length 51.503209 meters # Minimum depth: 928.903504 meters looking forward 50.000000 meters along route # Maximum depth: 931.325379 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 853.903504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773798; longitude = -121.990245; duration = 103; initialDepth = 856.499756; finalDepth = 853.903504; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.752213 # Actual altitude: 76.752213 # Commanded vehicle depth: 853.903504 # Seafloor depth: -928.967334 # behavior reson { duration = RESON_DURATION; 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 = 23.03; 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 to get to end of line 34 # Segment length 52.156446 meters # Minimum depth: 931.499756 meters looking forward 50.000000 meters along route # Maximum depth: 933.854423 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 856.499756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773835; longitude = -121.989670; duration = 104; # abortOnTimeout = True; initialDepth = 858.716170; finalDepth = 856.499756; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0638300000001 # Actual altitude: 75.0638300000001 # Commanded vehicle depth: 856.499756 # Seafloor depth: -931.499756 # behavior reson { duration = RESON_DURATION; 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 = 22.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.746706 meters # Minimum depth: 933.716170 meters looking forward 50.000000 meters along route # Maximum depth: 938.792743 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 858.716170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774058; longitude = -121.989155; duration = 101; initialDepth = 862.198679; finalDepth = 858.716170; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 858.71617 # Seafloor depth: -933.716170 # behavior reson { duration = RESON_DURATION; 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 = 22.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 52.208051 meters # Minimum depth: 937.198679 meters looking forward 50.000000 meters along route # Maximum depth: 938.951154 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 862.198679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774274; longitude = -121.988654; duration = 104; initialDepth = 855.754945; finalDepth = 862.198679; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6266380000001 # Actual altitude: 76.6266380000001 # Commanded vehicle depth: 862.198679 # Seafloor depth: -938.825317 # behavior reson { duration = RESON_DURATION; 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 = 22.99; 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 34 # Segment length 50.694668 meters # Minimum depth: 930.754945 meters looking forward 50.000000 meters along route # Maximum depth: 937.109625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 855.754945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774496; longitude = -121.988138; duration = 101; initialDepth = 842.046062; finalDepth = 855.754945; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 7 # Commanded altitude: 81.35468 # Actual altitude: 81.35468 # Commanded vehicle depth: 855.754945 # Seafloor depth: -937.109625 # behavior reson { duration = RESON_DURATION; 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 = 24.41; 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; } # ####################################################### # # 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 33 # Segment length 83.316699 meters # Minimum depth: 917.046062 meters looking forward 50.000000 meters along route # Maximum depth: 930.604004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 842.046062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774713; longitude = -121.987638; duration = 166; # abortOnTimeout = True; initialDepth = 849.918088; finalDepth = 842.046062; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.557942 # Actual altitude: 88.557942 # Commanded vehicle depth: 842.046062 # Seafloor depth: -930.604004 # behavior reson { duration = RESON_DURATION; 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 = 26.57; 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 33 # Segment length 51.323092 meters # Minimum depth: 899.918088 meters looking forward 50.000000 meters along route # Maximum depth: 916.576393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.918088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775464; longitude = -121.987633; duration = 102; initialDepth = 839.931432; finalDepth = 849.918088; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 88.557942 # Actual altitude: 88.557942 # Commanded vehicle depth: 849.918088 # Seafloor depth: -916.576393 # behavior reson { duration = RESON_DURATION; 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 = 26.57; 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 to get to end of line 32 # Segment length 43.237697 meters # Minimum depth: 889.931432 meters looking forward 50.000000 meters along route # Maximum depth: 901.692678 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 839.931432 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 = 86; # abortOnTimeout = True; initialDepth = 832.927246; finalDepth = 839.931432; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.658305 # Actual altitude: 66.658305 # Commanded vehicle depth: 839.931432 # Seafloor depth: -899.300456 # behavior reson { duration = RESON_DURATION; 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 = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 51.597190 meters # Minimum depth: 882.927246 meters looking forward 50.000000 meters along route # Maximum depth: 889.544611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 832.927246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776151; longitude = -121.988026; duration = 103; initialDepth = 826.042291; finalDepth = 832.927246; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3690240000001 # Actual altitude: 59.3690240000001 # Commanded vehicle depth: 832.927246 # Seafloor depth: -889.544611 # behavior reson { duration = RESON_DURATION; 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 = 17.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 51.193965 meters # Minimum depth: 876.042291 meters looking forward 50.000000 meters along route # Maximum depth: 888.328247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 826.042291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776419; longitude = -121.988499; duration = 102; initialDepth = 809.265573; finalDepth = 826.042291; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.147001 # Actual altitude: 62.147001 # Commanded vehicle depth: 826.042291 # Seafloor depth: -888.189292 # behavior reson { duration = RESON_DURATION; 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 = 18.64; 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 32 # Segment length 50.579594 meters # Minimum depth: 859.265573 meters looking forward 50.000000 meters along route # Maximum depth: 875.223433 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 809.265573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776685; longitude = -121.988967; duration = 101; initialDepth = 796.683528; finalDepth = 809.265573; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.95786 # Actual altitude: 65.95786 # Commanded vehicle depth: 809.265573 # Seafloor depth: -875.223433 # behavior reson { duration = RESON_DURATION; 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 = 19.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 31 # Segment length 55.863710 meters # Minimum depth: 846.683528 meters looking forward 50.000000 meters along route # Maximum depth: 858.774577 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 796.683528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776947; longitude = -121.989431; duration = 111; # abortOnTimeout = True; initialDepth = 784.745250; finalDepth = 796.683528; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.95786 # Actual altitude: 65.95786 # Commanded vehicle depth: 796.683528 # Seafloor depth: -858.774577 # behavior reson { duration = RESON_DURATION; 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 = 19.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 51.094788 meters # Minimum depth: 834.745250 meters looking forward 50.000000 meters along route # Maximum depth: 846.647203 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 784.745250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777051; longitude = -121.990043; duration = 102; initialDepth = 786.273374; finalDepth = 784.745250; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.091049 # Actual altitude: 62.091049 # Commanded vehicle depth: 784.74525 # Seafloor depth: -846.647203 # behavior reson { duration = RESON_DURATION; 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 = 18.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 51.775985 meters # Minimum depth: 836.273374 meters looking forward 50.000000 meters along route # Maximum depth: 844.693921 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 786.273374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777146; longitude = -121.990604; duration = 103; initialDepth = 793.036377; finalDepth = 786.273374; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.9019529999999 # Actual altitude: 61.9019529999999 # Commanded vehicle depth: 786.273374 # Seafloor depth: -836.273374 # behavior reson { duration = RESON_DURATION; 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 = 18.57; 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 to get to end of line 30 # Segment length 87.097638 meters # Minimum depth: 843.036377 meters looking forward 50.000000 meters along route # Maximum depth: 852.639826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.036377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777242; longitude = -121.991171; duration = 174; # abortOnTimeout = True; initialDepth = 789.069279; finalDepth = 793.036377; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 793.036377 # Seafloor depth: -843.036377 # behavior reson { duration = RESON_DURATION; 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 30 # Segment length 51.033685 meters # Minimum depth: 839.069279 meters looking forward 50.000000 meters along route # Maximum depth: 848.595006 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 789.069279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777399; longitude = -121.992127; duration = 102; initialDepth = 786.576894; finalDepth = 789.069279; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.525727 # Actual altitude: 59.525727 # Commanded vehicle depth: 789.069279 # Seafloor depth: -848.595006 # behavior reson { duration = RESON_DURATION; 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 = 17.86; 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 30 # Segment length 51.714068 meters # Minimum depth: 836.576894 meters looking forward 50.000000 meters along route # Maximum depth: 838.585129 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 786.576894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777491; longitude = -121.992688; duration = 103; initialDepth = 784.839561; finalDepth = 786.576894; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.525727 # Actual altitude: 59.525727 # Commanded vehicle depth: 786.576894 # Seafloor depth: -838.585129 # behavior reson { duration = RESON_DURATION; 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 = 17.86; 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 to get to end of line 29 # Segment length 69.144389 meters # Minimum depth: 834.839561 meters looking forward 50.000000 meters along route # Maximum depth: 836.731852 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 784.839561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777584; longitude = -121.993255; duration = 138; # abortOnTimeout = True; initialDepth = 783.544201; finalDepth = 784.839561; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.008235 # Actual altitude: 52.008235 # Commanded vehicle depth: 784.839561 # Seafloor depth: -836.731852 # behavior reson { duration = RESON_DURATION; MB_Range = 182.03; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 182.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.488762 meters # Minimum depth: 833.544201 meters looking forward 50.000000 meters along route # Maximum depth: 834.951277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 783.544201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777987; longitude = -121.993847; duration = 100; initialDepth = 780.337656; finalDepth = 783.544201; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.892291 # Actual altitude: 51.892291 # Commanded vehicle depth: 783.544201 # Seafloor depth: -834.951277 # behavior reson { duration = RESON_DURATION; MB_Range = 181.62; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 181.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 50.647416 meters # Minimum depth: 830.337656 meters looking forward 50.000000 meters along route # Maximum depth: 833.638184 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 780.337656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778281; longitude = -121.994279; duration = 101; initialDepth = 776.391706; finalDepth = 780.337656; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.1356109999999 # Actual altitude: 53.1356109999999 # Commanded vehicle depth: 780.337656 # Seafloor depth: -833.473267 # behavior reson { duration = RESON_DURATION; MB_Range = 185.97; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 185.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 74.691775 meters # Minimum depth: 826.391706 meters looking forward 50.000000 meters along route # Maximum depth: 830.604997 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 776.391706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778576; longitude = -121.994712; duration = 149; # abortOnTimeout = True; initialDepth = 768.065749; finalDepth = 776.391706; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.755592 # Actual altitude: 53.755592 # Commanded vehicle depth: 776.391706 # Seafloor depth: -830.147298 # behavior reson { duration = RESON_DURATION; MB_Range = 188.14; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 188.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.121974 meters # Minimum depth: 818.065749 meters looking forward 50.000000 meters along route # Maximum depth: 826.075833 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.065749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779032; longitude = -121.995327; duration = 100; initialDepth = 761.957923; finalDepth = 768.065749; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.010084 # Actual altitude: 58.010084 # Commanded vehicle depth: 768.065749 # Seafloor depth: -826.075833 # behavior reson { duration = RESON_DURATION; 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 28 # Segment length 52.087425 meters # Minimum depth: 811.957923 meters looking forward 50.000000 meters along route # Maximum depth: 817.991330 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.957923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779339; longitude = -121.995740; duration = 104; initialDepth = 761.800456; finalDepth = 761.957923; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.010084 # Actual altitude: 58.010084 # Commanded vehicle depth: 761.957923 # Seafloor depth: -817.991330 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 79.672356 meters # Minimum depth: 811.800456 meters looking forward 50.000000 meters along route # Maximum depth: 831.711348 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.800456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779657; longitude = -121.996169; duration = 159; # abortOnTimeout = True; initialDepth = 781.742694; finalDepth = 761.800456; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0334069999999 # Actual altitude: 56.0334069999999 # Commanded vehicle depth: 761.800456 # Seafloor depth: -811.800456 # behavior reson { duration = RESON_DURATION; MB_Range = 196.12; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 196.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.213698 meters # Minimum depth: 831.742694 meters looking forward 50.000000 meters along route # Maximum depth: 845.385957 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 781.742694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779591; longitude = -121.997058; duration = 100; initialDepth = 796.150706; finalDepth = 781.742694; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 781.742694 # Seafloor depth: -831.742694 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213719 meters # Minimum depth: 846.150706 meters looking forward 50.000000 meters along route # Maximum depth: 850.706303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 796.150706 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 = 798.336429; finalDepth = 796.150706; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 796.150706 # Seafloor depth: -846.150706 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213740 meters # Minimum depth: 848.336429 meters looking forward 50.000000 meters along route # Maximum depth: 852.075645 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 798.336429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779507; longitude = -121.998178; duration = 100; initialDepth = 795.464729; finalDepth = 798.336429; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.709612 # Actual altitude: 51.709612 # Commanded vehicle depth: 798.336429 # Seafloor depth: -850.046041 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213762 meters # Minimum depth: 845.464729 meters looking forward 50.000000 meters along route # Maximum depth: 850.914684 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 795.464729 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 = 793.506492; finalDepth = 795.464729; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4499549999999 # Actual altitude: 55.4499549999999 # Commanded vehicle depth: 795.464729 # Seafloor depth: -850.914684 # behavior reson { duration = RESON_DURATION; MB_Range = 194.07; 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 = 194.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.213784 meters # Minimum depth: 843.506492 meters looking forward 50.000000 meters along route # Maximum depth: 846.777092 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.506492 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 = 793.946376; finalDepth = 793.506492; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4499549999999 # Actual altitude: 55.4499549999999 # Commanded vehicle depth: 793.506492 # Seafloor depth: -846.474562 # behavior reson { duration = RESON_DURATION; MB_Range = 194.07; 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 = 194.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.213805 meters # Minimum depth: 843.946376 meters looking forward 50.000000 meters along route # Maximum depth: 848.814507 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.946376 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 = 799.193919; finalDepth = 793.946376; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.96807 # Actual altitude: 52.96807 # Commanded vehicle depth: 793.946376 # Seafloor depth: -843.946376 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213826 meters # Minimum depth: 849.193919 meters looking forward 50.000000 meters along route # Maximum depth: 865.591570 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 799.193919 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 = 816.347687; finalDepth = 799.193919; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.193919 # Seafloor depth: -849.193919 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213848 meters # Minimum depth: 866.347687 meters looking forward 50.000000 meters along route # Maximum depth: 882.052847 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 816.347687 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 = 832.495507; finalDepth = 816.347687; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.347687 # Seafloor depth: -866.347687 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213869 meters # Minimum depth: 882.495507 meters looking forward 50.000000 meters along route # Maximum depth: 895.230135 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 832.495507 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 = 845.554552; finalDepth = 832.495507; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 832.495507 # Seafloor depth: -882.495507 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213891 meters # Minimum depth: 895.554552 meters looking forward 50.000000 meters along route # Maximum depth: 902.456019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 845.554552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779215; longitude = -122.002100; duration = 100; initialDepth = 852.848567; finalDepth = 845.554552; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 845.554552 # Seafloor depth: -895.554552 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213912 meters # Minimum depth: 902.848567 meters looking forward 50.000000 meters along route # Maximum depth: 912.503150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 852.848567 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 = 862.753861; finalDepth = 852.848567; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 852.848567 # Seafloor depth: -902.848567 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213934 meters # Minimum depth: 912.753861 meters looking forward 50.000000 meters along route # Maximum depth: 918.651318 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 862.753861 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 = 868.884798; finalDepth = 862.753861; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 862.753861 # Seafloor depth: -912.753861 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213955 meters # Minimum depth: 918.884798 meters looking forward 50.000000 meters along route # Maximum depth: 922.081350 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 868.884798 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 = 872.311897; finalDepth = 868.884798; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 868.884798 # Seafloor depth: -918.884798 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213977 meters # Minimum depth: 922.311897 meters looking forward 50.000000 meters along route # Maximum depth: 929.667990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 872.311897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779048; longitude = -122.004342; duration = 100; initialDepth = 877.217691; finalDepth = 872.311897; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 872.311897 # Seafloor depth: -922.311897 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.213998 meters # Minimum depth: 927.217691 meters looking forward 50.000000 meters along route # Maximum depth: 932.302489 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 877.217691 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 = 882.662540; finalDepth = 877.217691; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2587830000001 # Actual altitude: 52.2587830000001 # Commanded vehicle depth: 877.217691 # Seafloor depth: -929.476474 # behavior reson { duration = RESON_DURATION; MB_Range = 182.91; 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 = 182.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.214020 meters # Minimum depth: 932.662540 meters looking forward 50.000000 meters along route # Maximum depth: 941.807178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 882.662540 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 = 891.962000; finalDepth = 882.662540; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2587830000001 # Actual altitude: 52.2587830000001 # Commanded vehicle depth: 882.66254 # Seafloor depth: -932.662540 # behavior reson { duration = RESON_DURATION; MB_Range = 182.91; 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 = 182.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 50.214041 meters # Minimum depth: 941.962000 meters looking forward 50.000000 meters along route # Maximum depth: 950.942700 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 891.962000 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 = 901.419666; finalDepth = 891.962000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 891.962 # Seafloor depth: -941.962000 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.214063 meters # Minimum depth: 951.419666 meters looking forward 50.000000 meters along route # Maximum depth: 960.269643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 901.419666 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 = 910.695870; finalDepth = 901.419666; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 901.419666 # Seafloor depth: -951.419666 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.481893 meters # Minimum depth: 960.695870 meters looking forward 50.000000 meters along route # Maximum depth: 974.175452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 910.695870 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 = 924.240450; finalDepth = 910.695870; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 910.69587 # Seafloor depth: -960.695870 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 50.615819 meters # Minimum depth: 974.240450 meters looking forward 50.000000 meters along route # Maximum depth: 983.737754 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 924.240450 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 = 101; initialDepth = 933.802409; finalDepth = 924.240450; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 924.24045 # Seafloor depth: -974.240450 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 68.541432 meters # Minimum depth: 983.802409 meters looking forward 50.000000 meters along route # Maximum depth: 994.412906 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 933.802409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778756; longitude = -122.008271; duration = 137; # abortOnTimeout = True; initialDepth = 944.461861; finalDepth = 933.802409; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 933.802409 # Seafloor depth: -983.802409 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 50.828605 meters # Minimum depth: 994.461861 meters looking forward 50.000000 meters along route # Maximum depth: 995.134141 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.461861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778447; longitude = -122.008936; duration = 101; initialDepth = 945.072438; finalDepth = 944.461861; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 944.461861 # Seafloor depth: -994.461861 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 51.046999 meters # Minimum depth: 995.072438 meters looking forward 50.000000 meters along route # Maximum depth: 995.279344 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 945.072438 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 = 102; initialDepth = 945.099996; finalDepth = 945.072438; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 945.072438 # Seafloor depth: -995.072438 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 51.924183 meters # Minimum depth: 995.099996 meters looking forward 50.000000 meters along route # Maximum depth: 995.377641 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 945.099996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777987; longitude = -122.009924; duration = 103; initialDepth = 944.648877; finalDepth = 945.099996; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.095023 # Actual altitude: 50.095023 # Commanded vehicle depth: 945.099996 # Seafloor depth: -995.195019 # behavior reson { duration = RESON_DURATION; MB_Range = 175.33; 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 = 175.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 50.647144 meters # Minimum depth: 994.648877 meters looking forward 50.000000 meters along route # Maximum depth: 995.168721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.648877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777753; longitude = -122.010428; duration = 101; initialDepth = 944.406129; finalDepth = 944.648877; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 50.505124 # Actual altitude: 50.505124 # Commanded vehicle depth: 944.648877 # Seafloor depth: -995.154001 # behavior reson { duration = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5294009261449 # Actual altitude: 51.5294009261449 # Commanded vehicle depth: 942.948075073855 # Seafloor depth: -994.477476 # behavior reson { duration = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5294009261449 # Actual altitude: 51.5294009261449 # Commanded vehicle depth: 942.863557 # Seafloor depth: -993.775422 # behavior reson { duration = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 25 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 24 # 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: 982.601294 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 = 937.617299; #finalDepth = 937.646677; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 24 # 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: 982.601294 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; #finalDepth = 937.617299; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 24 # 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: 982.601294 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; #finalDepth = 936.925549; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 24 # 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: 982.601294 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; #finalDepth = 934.097111; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 23 # 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: 982.601294 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; #finalDepth = 931.355565; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 23 # Segment length 51.107797 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: 982.601294 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; #finalDepth = 930.548937; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 23 # 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: 982.601294 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; #finalDepth = 926.960981; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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_wall behavior to get to end of line 22 # 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: 982.601294 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_wall { latitude = 36.774099; longitude = -122.003192; duration = 111; # abortOnTimeout = True; depth = 918.918987; #finalDepth = 925.090523; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 54.563578 # Actual altitude: 54.563578 # Commanded vehicle depth: 925.090523 # Seafloor depth: -977.229477 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 22 # 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: 982.601294 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_wall { latitude = 36.774045; longitude = -122.002571; duration = 100; depth = 916.905085; #finalDepth = 918.918987; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 57.530026 # Actual altitude: 57.530026 # Commanded vehicle depth: 918.918987 # Seafloor depth: -976.449013 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 22 # 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: 982.601294 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_wall { latitude = 36.773995; longitude = -122.002011; duration = 100; depth = 919.684227; #finalDepth = 916.905085; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 57.530026 # Actual altitude: 57.530026 # Commanded vehicle depth: 916.905085 # Seafloor depth: -968.354383 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 22 # 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: 982.601294 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_wall { latitude = 36.773946; longitude = -122.001451; duration = 100; depth = 917.524935; #finalDepth = 919.684227; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 53.6563990000001 # Actual altitude: 53.6563990000001 # Commanded vehicle depth: 919.684227 # Seafloor depth: -973.340626 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 22 # 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: 982.601294 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_wall { latitude = 36.773897; longitude = -122.000890; duration = 100; depth = 916.845026; #finalDepth = 917.524935; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 53.6563990000001 # Actual altitude: 53.6563990000001 # Commanded vehicle depth: 917.524935 # Seafloor depth: -969.444219 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 22 # 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: 982.601294 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_wall { latitude = 36.773848; longitude = -122.000330; duration = 102; depth = 915.022884; #finalDepth = 916.845026; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 51.9192839999999 # Actual altitude: 51.9192839999999 # Commanded vehicle depth: 916.845026 # Seafloor depth: -967.549951 # behavior reson { duration = RESON_DURATION; 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_wall behavior to get to end of line 21 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 915.022884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773798; longitude = -121.999758; duration = 125; # abortOnTimeout = True; depth = 912.764822; #finalDepth = 915.022884; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 51.778828 # Actual altitude: 51.778828 # Commanded vehicle depth: 915.022884 # Seafloor depth: -966.801712 # behavior reson { duration = RESON_DURATION; MB_Range = 181.23; 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 = 181.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 21 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 912.764822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773786; longitude = -121.999053; duration = 100; depth = 911.092947; #finalDepth = 912.764822; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 52.5232580000001 # Actual altitude: 52.5232580000001 # Commanded vehicle depth: 912.764822 # Seafloor depth: -965.288080 # behavior reson { duration = RESON_DURATION; MB_Range = 183.83; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 183.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 21 # Segment length 50.014956 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 911.092947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773776; longitude = -121.998492; duration = 100; depth = 909.249234; #finalDepth = 911.092947; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 52.5232580000001 # Actual altitude: 52.5232580000001 # Commanded vehicle depth: 911.092947 # Seafloor depth: -962.676962 # behavior reson { duration = RESON_DURATION; MB_Range = 183.83; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 183.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 21 # Segment length 50.014969 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 909.249234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773767; longitude = -121.997932; duration = 100; depth = 902.149509; #finalDepth = 909.249234; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 51.882249 # Actual altitude: 51.882249 # Commanded vehicle depth: 909.249234 # Seafloor depth: -961.131483 # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### # # # # Waypoint_wall behavior during line 21 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 902.149509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773757; longitude = -121.997372; duration = 100; depth = 897.035329; #finalDepth = 902.149509; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 57.0140140000001 # Actual altitude: 57.0140140000001 # Commanded vehicle depth: 902.149509 # Seafloor depth: -959.163523 # behavior reson { duration = RESON_DURATION; MB_Range = 199.55; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 199.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 21 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 897.035329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773748; longitude = -121.996811; duration = 100; depth = 896.825528; #finalDepth = 897.035329; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 57.0140140000001 # Actual altitude: 57.0140140000001 # Commanded vehicle depth: 897.035329 # Seafloor depth: -952.124086 # behavior reson { duration = RESON_DURATION; MB_Range = 199.55; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 199.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 79.764406 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 896.825528 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 = 903.372975; finalDepth = 896.825528; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.088757 # Actual altitude: 55.088757 # Commanded vehicle depth: 896.825528 # Seafloor depth: -951.224960 # behavior reson { duration = RESON_DURATION; MB_Range = 192.81; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 192.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.372975 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 = 901.608658; finalDepth = 903.372975; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.399432 # Actual altitude: 54.399432 # Commanded vehicle depth: 903.372975 # Seafloor depth: -956.711665 # behavior reson { duration = RESON_DURATION; MB_Range = 190.40; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 190.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.026670 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 901.608658 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 = 898.318498; finalDepth = 901.608658; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.33869 # Actual altitude: 53.33869 # Commanded vehicle depth: 901.608658 # Seafloor depth: -953.334097 # behavior reson { duration = RESON_DURATION; MB_Range = 186.69; 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 = 186.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 898.318498 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 = 890.646520; finalDepth = 898.318498; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.238164 # Actual altitude: 53.238164 # Commanded vehicle depth: 898.318498 # Seafloor depth: -951.556662 # behavior reson { duration = RESON_DURATION; MB_Range = 186.33; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.97; MB_Bottom_Detect_Filter_Max_Range = 186.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.026698 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 890.646520 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 = 881.012617; finalDepth = 890.646520; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.568746 # Actual altitude: 57.568746 # Commanded vehicle depth: 890.64652 # Seafloor depth: -948.215266 # behavior reson { duration = RESON_DURATION; 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 = 17.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 50.051077 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: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 881.012617 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 = 874.155014; finalDepth = 881.012617; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.131628 # Actual altitude: 59.131628 # Commanded vehicle depth: 881.012617 # Seafloor depth: -940.144245 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 19 # Segment length 56.150938 meters # Minimum depth: 924.155014 meters looking forward 50.000000 meters along route # Maximum depth: 931.444541 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 874.155014 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 = 870.236277; finalDepth = 874.155014; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.131628 # Actual altitude: 59.131628 # Commanded vehicle depth: 874.155014 # Seafloor depth: -931.229797 # behavior reson { duration = RESON_DURATION; 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 19 # Segment length 50.156558 meters # Minimum depth: 920.236277 meters looking forward 50.000000 meters along route # Maximum depth: 931.162939 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 870.236277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773687; longitude = -121.991926; duration = 100; initialDepth = 873.475208; finalDepth = 870.236277; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.470245 # Actual altitude: 58.470245 # Commanded vehicle depth: 870.236277 # Seafloor depth: -928.706522 # behavior reson { duration = RESON_DURATION; 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 = 17.54; 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 19 # Segment length 50.156541 meters # Minimum depth: 923.475208 meters looking forward 50.000000 meters along route # Maximum depth: 936.956893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 873.475208 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 = 878.564804; finalDepth = 873.475208; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.470245 # Actual altitude: 58.470245 # Commanded vehicle depth: 873.475208 # Seafloor depth: -923.475208 # behavior reson { duration = RESON_DURATION; 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 = 17.54; 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 19 # Segment length 50.156524 meters # Minimum depth: 928.564804 meters looking forward 50.000000 meters along route # Maximum depth: 930.467977 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.564804 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 = 878.871250; finalDepth = 878.564804; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.903173 # Actual altitude: 51.903173 # Commanded vehicle depth: 878.564804 # Seafloor depth: -930.467977 # behavior reson { duration = RESON_DURATION; MB_Range = 181.66; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 181.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 50.840725 meters # Minimum depth: 928.871250 meters looking forward 50.000000 meters along route # Maximum depth: 931.233013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.871250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773793; longitude = -121.990245; duration = 101; initialDepth = 881.412628; finalDepth = 878.871250; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.903173 # Actual altitude: 51.903173 # Commanded vehicle depth: 878.87125 # Seafloor depth: -928.938335 # behavior reson { duration = RESON_DURATION; MB_Range = 181.66; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 181.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 56.063984 meters # Minimum depth: 931.412628 meters looking forward 50.000000 meters along route # Maximum depth: 933.840469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 881.412628 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 = 883.780698; finalDepth = 881.412628; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.067085 # Actual altitude: 50.067085 # Commanded vehicle depth: 881.412628 # Seafloor depth: -931.412628 # behavior reson { duration = RESON_DURATION; MB_Range = 175.23; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.02; MB_Bottom_Detect_Filter_Max_Range = 175.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.018535 meters # Minimum depth: 933.780698 meters looking forward 50.000000 meters along route # Maximum depth: 938.825720 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 883.780698 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 = 887.220416; finalDepth = 883.780698; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.133031 # Actual altitude: 50.133031 # Commanded vehicle depth: 883.780698 # Seafloor depth: -933.913729 # behavior reson { duration = RESON_DURATION; MB_Range = 175.47; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 175.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 50.018432 meters # Minimum depth: 937.220416 meters looking forward 50.000000 meters along route # Maximum depth: 938.948501 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 887.220416 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 = 880.711104; finalDepth = 887.220416; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.657047 # Actual altitude: 51.657047 # Commanded vehicle depth: 887.220416 # Seafloor depth: -938.877463 # behavior reson { duration = RESON_DURATION; MB_Range = 180.80; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 180.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 51.563042 meters # Minimum depth: 930.711104 meters looking forward 50.000000 meters along route # Maximum depth: 937.109810 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 880.711104 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 = 866.997913; finalDepth = 880.711104; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 56.3987060000001 # Actual altitude: 56.3987060000001 # Commanded vehicle depth: 880.711104 # Seafloor depth: -937.109810 # behavior reson { duration = RESON_DURATION; MB_Range = 197.40; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 197.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.40; 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 17 # Segment length 82.596198 meters # Minimum depth: 916.997913 meters looking forward 50.000000 meters along route # Maximum depth: 930.523087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 866.997913 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 = 874.912655; finalDepth = 866.997913; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.525174 # Actual altitude: 63.525174 # Commanded vehicle depth: 866.997913 # Seafloor depth: -930.523087 # behavior reson { duration = RESON_DURATION; 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 17 # Segment length 51.308630 meters # Minimum depth: 899.912655 meters looking forward 50.000000 meters along route # Maximum depth: 916.530523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 874.912655 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 = 862.598071; finalDepth = 874.912655; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.525174 # Actual altitude: 63.525174 # Commanded vehicle depth: 874.912655 # Seafloor depth: -916.530523 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 16 # Segment length 46.518950 meters # Minimum depth: 887.598071 meters looking forward 50.000000 meters along route # Maximum depth: 900.824466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 862.598071 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 = 93; # abortOnTimeout = True; initialDepth = 858.020526; finalDepth = 862.598071; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.617868 # Actual altitude: 41.617868 # Commanded vehicle depth: 862.598071 # Seafloor depth: -899.511002 # behavior reson { duration = RESON_DURATION; MB_Range = 145.66; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.49; MB_Bottom_Detect_Filter_Max_Range = 145.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.351620 meters # Minimum depth: 883.020526 meters looking forward 50.000000 meters along route # Maximum depth: 888.430997 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 858.020526 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 = 849.955310; finalDepth = 858.020526; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.912931 # Actual altitude: 36.912931 # Commanded vehicle depth: 858.020526 # Seafloor depth: -886.842678 # behavior reson { duration = RESON_DURATION; MB_Range = 129.20; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.07; MB_Bottom_Detect_Filter_Max_Range = 129.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 51.267753 meters # Minimum depth: 874.955310 meters looking forward 50.000000 meters along route # Maximum depth: 888.570346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.955310 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 = 834.011938; finalDepth = 849.955310; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.5468999999999 # Actual altitude: 38.5468999999999 # Commanded vehicle depth: 849.95531 # Seafloor depth: -888.502210 # behavior reson { duration = RESON_DURATION; MB_Range = 134.91; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.56; MB_Bottom_Detect_Filter_Max_Range = 134.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 134.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 50.556141 meters # Minimum depth: 859.011938 meters looking forward 50.000000 meters along route # Maximum depth: 874.823702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 834.011938 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 = 821.396388; finalDepth = 834.011938; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.811764 # Actual altitude: 40.811764 # Commanded vehicle depth: 834.011938 # Seafloor depth: -874.823702 # behavior reson { duration = RESON_DURATION; MB_Range = 142.84; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 57.856526 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 821.396388 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 = 809.072541; finalDepth = 821.396388; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.811764 # Actual altitude: 40.811764 # Commanded vehicle depth: 821.396388 # Seafloor depth: -858.530563 # behavior reson { duration = RESON_DURATION; MB_Range = 142.84; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.125402 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 809.072541 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 = 812.184741; finalDepth = 809.072541; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.305627 # Actual altitude: 37.305627 # Commanded vehicle depth: 809.072541 # Seafloor depth: -846.378168 # behavior reson { duration = RESON_DURATION; MB_Range = 130.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 130.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 130.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 812.184741 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 = 818.043045; finalDepth = 812.184741; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 37.305627 # Actual altitude: 37.305627 # Commanded vehicle depth: 812.184741 # Seafloor depth: -837.184741 # behavior reson { duration = RESON_DURATION; MB_Range = 130.57; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.19; MB_Bottom_Detect_Filter_Max_Range = 130.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 130.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 818.043045 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 = 813.527128; finalDepth = 818.043045; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 818.043045 # Seafloor depth: -843.043045 # behavior reson { duration = RESON_DURATION; 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 14 # Segment length 50.989784 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 813.527128 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 = 811.586626; finalDepth = 813.527128; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.467217 # Actual altitude: 34.467217 # Commanded vehicle depth: 813.527128 # Seafloor depth: -847.994345 # behavior reson { duration = RESON_DURATION; MB_Range = 120.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 50.222498 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 811.586626 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 = 809.957058; finalDepth = 811.586626; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 34.467217 # Actual altitude: 34.467217 # Commanded vehicle depth: 811.586626 # Seafloor depth: -838.103641 # behavior reson { duration = RESON_DURATION; MB_Range = 120.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 66.511130 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 809.957058 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 = 808.684768; finalDepth = 809.957058; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.935612 # Actual altitude: 26.935612 # Commanded vehicle depth: 809.957058 # Seafloor depth: -836.892670 # behavior reson { duration = RESON_DURATION; MB_Range = 94.27; 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 = 94.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.420016 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 808.684768 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 = 805.485408; finalDepth = 808.684768; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.935612 # Actual altitude: 26.935612 # Commanded vehicle depth: 808.684768 # Seafloor depth: -835.320362 # behavior reson { duration = RESON_DURATION; MB_Range = 94.27; 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 = 94.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 805.485408 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 = 801.150555; finalDepth = 805.485408; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 28.159893 # Actual altitude: 28.159893 # Commanded vehicle depth: 805.485408 # Seafloor depth: -833.645301 # behavior reson { duration = RESON_DURATION; MB_Range = 98.56; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.45; MB_Bottom_Detect_Filter_Max_Range = 98.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 98.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 801.150555 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 = 793.142883; finalDepth = 801.150555; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.129383 # Actual altitude: 29.129383 # Commanded vehicle depth: 801.150555 # Seafloor depth: -830.279938 # behavior reson { duration = RESON_DURATION; MB_Range = 101.95; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.74; MB_Bottom_Detect_Filter_Max_Range = 101.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 793.142883 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 = 787.188791; finalDepth = 793.142883; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.00294 # Actual altitude: 33.00294 # Commanded vehicle depth: 793.142883 # Seafloor depth: -826.145823 # behavior reson { duration = RESON_DURATION; MB_Range = 115.51; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.90; MB_Bottom_Detect_Filter_Max_Range = 115.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 787.188791 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 = 787.080643; finalDepth = 787.188791; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 33.00294 # Actual altitude: 33.00294 # Commanded vehicle depth: 787.188791 # Seafloor depth: -817.949718 # behavior reson { duration = RESON_DURATION; MB_Range = 115.51; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.90; MB_Bottom_Detect_Filter_Max_Range = 115.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 787.080643 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 = 806.777305; finalDepth = 787.080643; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.7609269999999 # Actual altitude: 30.7609269999999 # Commanded vehicle depth: 787.080643 # Seafloor depth: -812.080643 # behavior reson { duration = RESON_DURATION; MB_Range = 107.66; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.23; MB_Bottom_Detect_Filter_Max_Range = 107.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 806.777305 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 = 821.141956; finalDepth = 806.777305; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 806.777305 # Seafloor depth: -831.777305 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 821.141956 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 = 823.323609; finalDepth = 821.141956; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 821.141956 # Seafloor depth: -846.141956 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 823.323609 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 = 820.457724; finalDepth = 823.323609; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.7072879999999 # Actual altitude: 26.7072879999999 # Commanded vehicle depth: 823.323609 # Seafloor depth: -850.030897 # behavior reson { duration = RESON_DURATION; MB_Range = 93.48; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 93.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 820.457724 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 = 818.495743; finalDepth = 820.457724; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.4394100000001 # Actual altitude: 30.4394100000001 # Commanded vehicle depth: 820.457724 # Seafloor depth: -850.897134 # behavior reson { duration = RESON_DURATION; MB_Range = 106.54; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 106.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 818.495743 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 = 818.933378; finalDepth = 818.495743; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.4394100000001 # Actual altitude: 30.4394100000001 # Commanded vehicle depth: 818.495743 # Seafloor depth: -846.464459 # behavior reson { duration = RESON_DURATION; MB_Range = 106.54; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 106.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 818.933378 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 = 824.195546; finalDepth = 818.933378; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.9687160000001 # Actual altitude: 27.9687160000001 # Commanded vehicle depth: 818.933378 # Seafloor depth: -843.933378 # behavior reson { duration = RESON_DURATION; MB_Range = 97.89; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.39; MB_Bottom_Detect_Filter_Max_Range = 97.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 824.195546 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 = 841.352532; finalDepth = 824.195546; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 824.195546 # Seafloor depth: -849.195546 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 841.352532 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 = 857.501471; finalDepth = 841.352532; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 841.352532 # Seafloor depth: -866.352532 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 857.501471 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 = 870.553209; finalDepth = 857.501471; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 857.501471 # Seafloor depth: -882.501471 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 870.553209 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 = 877.849616; finalDepth = 870.553209; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 870.553209 # Seafloor depth: -895.553209 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 877.849616 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 = 887.753333; finalDepth = 877.849616; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 877.849616 # Seafloor depth: -902.849616 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 887.753333 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 = 893.884131; finalDepth = 887.753333; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 887.753333 # Seafloor depth: -912.753333 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 893.884131 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 = 897.310548; finalDepth = 893.884131; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 893.884131 # Seafloor depth: -918.884131 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 897.310548 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 = 902.217986; finalDepth = 897.310548; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 897.310548 # Seafloor depth: -922.310548 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 902.217986 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 = 907.661645; finalDepth = 902.217986; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.257266 # Actual altitude: 27.257266 # Commanded vehicle depth: 902.217986 # Seafloor depth: -929.475252 # behavior reson { duration = RESON_DURATION; MB_Range = 95.40; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 95.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 907.661645 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 = 916.961578; finalDepth = 907.661645; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.257266 # Actual altitude: 27.257266 # Commanded vehicle depth: 907.661645 # Seafloor depth: -932.661645 # behavior reson { duration = RESON_DURATION; MB_Range = 95.40; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 95.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.961578 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 = 926.419515; finalDepth = 916.961578; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 916.961578 # Seafloor depth: -941.961578 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 926.419515 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 = 935.695893; finalDepth = 926.419515; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 926.419515 # Seafloor depth: -951.419515 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 935.695893 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 = 949.237399; finalDepth = 935.695893; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 935.695893 # Seafloor depth: -960.695893 # behavior reson { duration = RESON_DURATION; 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 11 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 949.237399 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 = 958.897705; finalDepth = 949.237399; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 949.237399 # Seafloor depth: -974.237399 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 10 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 958.897705 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 = 969.465091; finalDepth = 958.897705; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 958.897705 # Seafloor depth: -983.897705 # behavior reson { duration = RESON_DURATION; 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 10 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.465091 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 = 970.072671; finalDepth = 969.465091; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 969.465091 # Seafloor depth: -994.465091 # behavior reson { duration = RESON_DURATION; 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 10 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 970.072671 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 = 970.101294; finalDepth = 970.072671; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 970.072671 # Seafloor depth: -995.072671 # behavior reson { duration = RESON_DURATION; 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 10 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 970.101294 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 = 969.648671; finalDepth = 970.101294; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0959089999999 # Actual altitude: 25.0959089999999 # Commanded vehicle depth: 970.101294 # Seafloor depth: -995.197203 # behavior reson { duration = RESON_DURATION; MB_Range = 87.84; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.53; MB_Bottom_Detect_Filter_Max_Range = 87.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # 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: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.648671 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 = 969.406129; finalDepth = 969.648671; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25.506936 # Actual altitude: 25.506936 # Commanded vehicle depth: 969.648671 # Seafloor depth: -995.155607 # behavior reson { duration = RESON_DURATION; MB_Range = 89.27; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.65; MB_Bottom_Detect_Filter_Max_Range = 89.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.27; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 9 # Segment length 50.952681 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 9 # Segment length 51.122639 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.5294013924523 # Actual altitude: 26.5294013924523 # Commanded vehicle depth: 967.948074607548 # Seafloor depth: -994.477476 # behavior reson { duration = RESON_DURATION; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.5294013924523 # Actual altitude: 26.5294013924523 # Commanded vehicle depth: 967.863557 # Seafloor depth: -993.775422 # behavior reson { duration = RESON_DURATION; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 9 # 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: 982.601294 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 = SURVEY_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 8 # 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: 982.601294 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; #finalDepth = 962.646677; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 8 # 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: 982.601294 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; #finalDepth = 962.617299; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 8 # 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: 982.601294 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; #finalDepth = 961.925549; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 8 # 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: 982.601294 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; #finalDepth = 959.097111; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 7 # 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: 982.601294 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; #finalDepth = 956.355565; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 7 # Segment length 51.107797 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: 982.601294 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; #finalDepth = 955.548937; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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 7 # 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: 982.601294 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; #finalDepth = 951.960981; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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 = RESON_DURATION; 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_wall behavior to get to end of line 6 # 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: 982.601294 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_wall { latitude = 36.774099; longitude = -122.003192; duration = 111; # abortOnTimeout = True; depth = 943.918987; #finalDepth = 950.090523; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 29.563578 # Actual altitude: 29.563578 # Commanded vehicle depth: 950.090523 # Seafloor depth: -977.229477 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 6 # 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: 982.601294 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_wall { latitude = 36.774045; longitude = -122.002571; duration = 100; depth = 941.905085; #finalDepth = 943.918987; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 32.530026 # Actual altitude: 32.530026 # Commanded vehicle depth: 943.918987 # Seafloor depth: -976.449013 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 6 # 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: 982.601294 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_wall { latitude = 36.773995; longitude = -122.002011; duration = 100; depth = 944.684227; #finalDepth = 941.905085; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 32.530026 # Actual altitude: 32.530026 # Commanded vehicle depth: 941.905085 # Seafloor depth: -968.354383 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 6 # 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: 982.601294 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_wall { latitude = 36.773946; longitude = -122.001451; duration = 100; depth = 942.524935; #finalDepth = 944.684227; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 28.6563990000001 # Actual altitude: 28.6563990000001 # Commanded vehicle depth: 944.684227 # Seafloor depth: -973.340626 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 6 # 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: 982.601294 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_wall { latitude = 36.773897; longitude = -122.000890; duration = 100; depth = 941.845026; #finalDepth = 942.524935; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 28.6563990000001 # Actual altitude: 28.6563990000001 # Commanded vehicle depth: 942.524935 # Seafloor depth: -969.444219 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 6 # 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: 982.601294 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_wall { latitude = 36.773848; longitude = -122.000330; duration = 102; depth = 940.023160; #finalDepth = 941.845026; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 26.9192839999999 # Actual altitude: 26.9192839999999 # Commanded vehicle depth: 941.845026 # Seafloor depth: -967.549951 # behavior reson { duration = RESON_DURATION; 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_wall behavior to get to end of line 5 # Segment length 62.976794 meters # Minimum depth: 965.023160 meters looking forward 50.000000 meters along route # Maximum depth: 966.801712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 940.023160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773798; longitude = -121.999758; duration = 125; # abortOnTimeout = True; depth = 937.766859; #finalDepth = 940.023160; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 26.778552 # Actual altitude: 26.778552 # Commanded vehicle depth: 940.02316 # Seafloor depth: -966.801712 # behavior reson { duration = RESON_DURATION; MB_Range = 93.72; 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 = 93.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_wall behavior during line 5 # Segment length 50.014462 meters # Minimum depth: 962.766859 meters looking forward 50.000000 meters along route # Maximum depth: 965.289002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 937.766859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773786; longitude = -121.999053; duration = 100; depth = 936.097525; #finalDepth = 937.766859; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 27.522143 # Actual altitude: 27.522143 # Commanded vehicle depth: 937.766859 # Seafloor depth: -965.289002 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 5 # Segment length 50.014473 meters # Minimum depth: 961.097525 meters looking forward 50.000000 meters along route # Maximum depth: 962.678949 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 936.097525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773777; longitude = -121.998492; duration = 100; depth = 934.297100; #finalDepth = 936.097525; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 27.522143 # Actual altitude: 27.522143 # Commanded vehicle depth: 936.097525 # Seafloor depth: -962.678949 # behavior reson { duration = RESON_DURATION; 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_wall behavior during line 5 # Segment length 50.014486 meters # Minimum depth: 959.297100 meters looking forward 50.000000 meters along route # Maximum depth: 961.134486 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 934.297100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773767; longitude = -121.997932; duration = 100; depth = 927.193250; #finalDepth = 934.297100; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 26.837386 # Actual altitude: 26.837386 # Commanded vehicle depth: 934.2971 # Seafloor depth: -961.134486 # behavior reson { duration = RESON_DURATION; 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 5 # Segment length 50.014497 meters # Minimum depth: 952.193250 meters looking forward 50.000000 meters along route # Maximum depth: 959.198872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 927.193250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773758; longitude = -121.997372; duration = 100; depth = 922.265809; #finalDepth = 927.193250; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 32.005622 # Actual altitude: 32.005622 # Commanded vehicle depth: 927.19325 # Seafloor depth: -959.198872 # behavior reson { duration = RESON_DURATION; MB_Range = 112.02; 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 = 112.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_wall behavior during line 5 # Segment length 50.681368 meters # Minimum depth: 947.265809 meters looking forward 50.000000 meters along route # Maximum depth: 956.120661 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 922.265809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773749; longitude = -121.996811; duration = 101; depth = 921.915204; #finalDepth = 922.265809; speed = SURVEY_SPEED; maxCrossTrackError = 40; #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: 32.005622 # Actual altitude: 32.005622 # Commanded vehicle depth: 922.265809 # Seafloor depth: -952.156958 # behavior reson { duration = RESON_DURATION; MB_Range = 112.02; 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 = 112.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 79.376678 meters # Minimum depth: 946.915204 meters looking forward 50.000000 meters along route # Maximum depth: 957.996214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 921.915204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773739; longitude = -121.996244; duration = 158; # abortOnTimeout = True; initialDepth = 928.391090; finalDepth = 921.915204; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.891149 # Actual altitude: 29.891149 # Commanded vehicle depth: 921.915204 # Seafloor depth: -950.289876 # behavior reson { duration = RESON_DURATION; MB_Range = 104.62; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.97; MB_Bottom_Detect_Filter_Max_Range = 104.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.027337 meters # Minimum depth: 953.391090 meters looking forward 50.000000 meters along route # Maximum depth: 965.512619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 928.391090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773717; longitude = -121.995355; duration = 100; initialDepth = 926.609491; finalDepth = 928.391090; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.374672 # Actual altitude: 28.374672 # Commanded vehicle depth: 928.39109 # Seafloor depth: -956.710837 # behavior reson { duration = RESON_DURATION; MB_Range = 99.31; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.51; MB_Bottom_Detect_Filter_Max_Range = 99.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 99.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.027352 meters # Minimum depth: 951.609491 meters looking forward 50.000000 meters along route # Maximum depth: 957.153106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 926.609491 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 = 923.330304; finalDepth = 926.609491; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.319747 # Actual altitude: 28.319747 # Commanded vehicle depth: 926.609491 # Seafloor depth: -953.346058 # behavior reson { duration = RESON_DURATION; MB_Range = 99.12; 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 = 99.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 99.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.027366 meters # Minimum depth: 948.330304 meters looking forward 50.000000 meters along route # Maximum depth: 953.032802 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 923.330304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773690; longitude = -121.994234; duration = 100; initialDepth = 915.656003; finalDepth = 923.330304; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.227471 # Actual altitude: 28.227471 # Commanded vehicle depth: 923.330304 # Seafloor depth: -951.557775 # behavior reson { duration = RESON_DURATION; MB_Range = 98.80; 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 = 98.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 98.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.027380 meters # Minimum depth: 940.656003 meters looking forward 50.000000 meters along route # Maximum depth: 948.217216 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 915.656003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773676; longitude = -121.993674; duration = 100; initialDepth = 906.012623; finalDepth = 915.656003; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.561213 # Actual altitude: 32.561213 # Commanded vehicle depth: 915.656003 # Seafloor depth: -948.217216 # behavior reson { duration = RESON_DURATION; MB_Range = 113.96; 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 = 113.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.051760 meters # Minimum depth: 931.012623 meters looking forward 50.000000 meters along route # Maximum depth: 940.154879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.012623 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 = 901.507524; finalDepth = 906.012623; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 34.1422560000001 # Actual altitude: 34.1422560000001 # Commanded vehicle depth: 906.012623 # Seafloor depth: -940.154879 # behavior reson { duration = RESON_DURATION; MB_Range = 119.50; 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 = 119.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 76.224646 meters # Minimum depth: 926.507524 meters looking forward 50.000000 meters along route # Maximum depth: 931.229797 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 901.507524 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 = 895.508624; finalDepth = 901.507524; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.1422560000001 # Actual altitude: 34.1422560000001 # Commanded vehicle depth: 901.507524 # Seafloor depth: -931.229797 # behavior reson { duration = RESON_DURATION; MB_Range = 119.50; 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 = 119.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.163843 meters # Minimum depth: 920.508624 meters looking forward 50.000000 meters along route # Maximum depth: 936.832601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.508624 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 = 903.772196; finalDepth = 895.508624; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.7187939999999 # Actual altitude: 31.7187939999999 # Commanded vehicle depth: 895.508624 # Seafloor depth: -927.227418 # behavior reson { duration = RESON_DURATION; MB_Range = 111.02; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.52; MB_Bottom_Detect_Filter_Max_Range = 111.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163826 meters # Minimum depth: 928.772196 meters looking forward 50.000000 meters along route # Maximum depth: 936.968259 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.772196 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 = 903.586877; finalDepth = 903.772196; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.028515 # Actual altitude: 33.028515 # Commanded vehicle depth: 903.772196 # Seafloor depth: -936.800711 # behavior reson { duration = RESON_DURATION; MB_Range = 115.60; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.91; MB_Bottom_Detect_Filter_Max_Range = 115.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163809 meters # Minimum depth: 928.586877 meters looking forward 50.000000 meters along route # Maximum depth: 929.216461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.586877 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 = 904.117353; finalDepth = 903.586877; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.028515 # Actual altitude: 33.028515 # Commanded vehicle depth: 903.586877 # Seafloor depth: -928.812308 # behavior reson { duration = RESON_DURATION; MB_Range = 115.60; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.91; MB_Bottom_Detect_Filter_Max_Range = 115.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163790 meters # Minimum depth: 929.117353 meters looking forward 50.000000 meters along route # Maximum depth: 932.863587 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 904.117353 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 = 907.946742; finalDepth = 904.117353; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.2254310000001 # Actual altitude: 25.2254310000001 # Commanded vehicle depth: 904.117353 # Seafloor depth: -929.136159 # behavior reson { duration = RESON_DURATION; MB_Range = 88.29; 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 = 88.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163772 meters # Minimum depth: 932.946742 meters looking forward 50.000000 meters along route # Maximum depth: 933.604240 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 907.946742 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 = 908.356090; finalDepth = 907.946742; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0418480000001 # Actual altitude: 25.0418480000001 # Commanded vehicle depth: 907.946742 # Seafloor depth: -932.988590 # behavior reson { duration = RESON_DURATION; MB_Range = 87.65; 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 = 87.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.163755 meters # Minimum depth: 933.356090 meters looking forward 50.000000 meters along route # Maximum depth: 937.384309 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 908.356090 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 = 907.122187; finalDepth = 908.356090; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.316047 # Actual altitude: 25.316047 # Commanded vehicle depth: 908.35609 # Seafloor depth: -933.672137 # behavior reson { duration = RESON_DURATION; MB_Range = 88.61; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.59; MB_Bottom_Detect_Filter_Max_Range = 88.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.852583 meters # Minimum depth: 932.122187 meters looking forward 50.000000 meters along route # Maximum depth: 936.899635 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 907.122187 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 = 900.033813; finalDepth = 907.122187; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 29.7774479999999 # Actual altitude: 29.7774479999999 # Commanded vehicle depth: 907.122187 # Seafloor depth: -936.899635 # behavior reson { duration = RESON_DURATION; MB_Range = 104.22; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.93; MB_Bottom_Detect_Filter_Max_Range = 104.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.22; 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 56.542666 meters # Minimum depth: 925.033813 meters looking forward 50.000000 meters along route # Maximum depth: 932.025497 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 900.033813 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 = 887.371652; finalDepth = 900.033813; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.991684 # Actual altitude: 31.991684 # Commanded vehicle depth: 900.033813 # Seafloor depth: -932.025497 # behavior reson { duration = RESON_DURATION; MB_Range = 111.97; 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 = 111.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.060794 meters # Minimum depth: 912.371652 meters looking forward 50.000000 meters along route # Maximum depth: 924.867774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 887.371652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774274; longitude = -121.987277; duration = 100; initialDepth = 868.357801; finalDepth = 887.371652; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.496122 # Actual altitude: 37.496122 # Commanded vehicle depth: 887.371652 # Seafloor depth: -924.867774 # behavior reson { duration = RESON_DURATION; MB_Range = 131.24; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.25; MB_Bottom_Detect_Filter_Max_Range = 131.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.181731 meters # Minimum depth: 893.357801 meters looking forward 50.000000 meters along route # Maximum depth: 911.321559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 868.357801 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 = 849.166518; finalDepth = 868.357801; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.963758 # Actual altitude: 42.963758 # Commanded vehicle depth: 868.357801 # Seafloor depth: -911.321559 # behavior reson { duration = RESON_DURATION; MB_Range = 150.37; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.89; MB_Bottom_Detect_Filter_Max_Range = 150.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.181619 meters # Minimum depth: 874.166518 meters looking forward 50.000000 meters along route # Maximum depth: 892.774212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.166518 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 = 823.108486; finalDepth = 849.166518; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.607694 # Actual altitude: 43.607694 # Commanded vehicle depth: 849.166518 # Seafloor depth: -892.774212 # behavior reson { duration = RESON_DURATION; MB_Range = 152.63; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.08; MB_Bottom_Detect_Filter_Max_Range = 152.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.181508 meters # Minimum depth: 848.108486 meters looking forward 50.000000 meters along route # Maximum depth: 873.246673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 823.108486 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 = 789.981893; finalDepth = 823.108486; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.138187 # Actual altitude: 50.138187 # Commanded vehicle depth: 823.108486 # Seafloor depth: -873.246673 # behavior reson { duration = RESON_DURATION; MB_Range = 175.48; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 175.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.181396 meters # Minimum depth: 814.981893 meters looking forward 50.000000 meters along route # Maximum depth: 847.367844 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 789.981893 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 = 765.657041; finalDepth = 789.981893; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.385951 # Actual altitude: 57.385951 # Commanded vehicle depth: 789.981893 # Seafloor depth: -847.367844 # behavior reson { duration = RESON_DURATION; 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 = 17.22; 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 2 # Segment length 50.759665 meters # Minimum depth: 790.657041 meters looking forward 50.000000 meters along route # Maximum depth: 814.611391 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.657041 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 = 748.373267; finalDepth = 765.657041; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.385951 # Actual altitude: 57.385951 # Commanded vehicle depth: 765.657041 # Seafloor depth: -814.611391 # behavior reson { duration = RESON_DURATION; 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 = 17.22; 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 to get to end of line 1 # Segment length 50.891899 meters # Minimum depth: 773.373267 meters looking forward 50.000000 meters along route # Maximum depth: 790.414108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.373267 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 = 732.571573; finalDepth = 748.373267; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.95435 # Actual altitude: 48.95435 # Commanded vehicle depth: 748.373267 # Seafloor depth: -790.414108 # behavior reson { duration = RESON_DURATION; MB_Range = 171.34; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 14.69; MB_Bottom_Detect_Filter_Max_Range = 171.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.140854 meters # Minimum depth: 757.571573 meters looking forward 50.000000 meters along route # Maximum depth: 773.204364 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 732.571573 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 = 714.824682; finalDepth = 732.571573; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.040841 # Actual altitude: 42.040841 # Commanded vehicle depth: 732.571573 # Seafloor depth: -773.204364 # behavior reson { duration = RESON_DURATION; MB_Range = 147.14; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.61; MB_Bottom_Detect_Filter_Max_Range = 147.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140807 meters # Minimum depth: 739.824682 meters looking forward 50.000000 meters along route # Maximum depth: 757.019070 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 714.824682 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 = 698.533465; finalDepth = 714.824682; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.194388 # Actual altitude: 42.194388 # Commanded vehicle depth: 714.824682 # Seafloor depth: -757.019070 # behavior reson { duration = RESON_DURATION; MB_Range = 147.68; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.66; MB_Bottom_Detect_Filter_Max_Range = 147.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140762 meters # Minimum depth: 723.533465 meters looking forward 50.000000 meters along route # Maximum depth: 739.604188 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 698.533465 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 = 689.611995; finalDepth = 698.533465; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.194388 # Actual altitude: 42.194388 # Commanded vehicle depth: 698.533465 # Seafloor depth: -739.604188 # behavior reson { duration = RESON_DURATION; MB_Range = 147.68; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.66; MB_Bottom_Detect_Filter_Max_Range = 147.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140717 meters # Minimum depth: 714.611995 meters looking forward 50.000000 meters along route # Maximum depth: 723.032419 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 689.611995 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 = 675.059249; finalDepth = 689.611995; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.070723 # Actual altitude: 41.070723 # Commanded vehicle depth: 689.611995 # Seafloor depth: -723.032419 # behavior reson { duration = RESON_DURATION; MB_Range = 143.75; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.32; MB_Bottom_Detect_Filter_Max_Range = 143.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.75; 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: 700.059249 meters looking forward 50.000000 meters along route # Maximum depth: 714.636404 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 675.059249 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 = 662.316513; finalDepth = 675.059249; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.5771549999999 # Actual altitude: 39.5771549999999 # Commanded vehicle depth: 675.059249 # Seafloor depth: -714.636404 # behavior reson { duration = RESON_DURATION; MB_Range = 138.52; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.87; MB_Bottom_Detect_Filter_Max_Range = 138.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 138.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140625 meters # Minimum depth: 687.316513 meters looking forward 50.000000 meters along route # Maximum depth: 699.516296 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 662.316513 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 = 656.414885; finalDepth = 662.316513; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.5771549999999 # Actual altitude: 39.5771549999999 # Commanded vehicle depth: 662.316513 # Seafloor depth: -699.516296 # behavior reson { duration = RESON_DURATION; MB_Range = 138.52; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.87; MB_Bottom_Detect_Filter_Max_Range = 138.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 138.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140579 meters # Minimum depth: 681.414885 meters looking forward 50.000000 meters along route # Maximum depth: 687.232485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 656.414885 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 = 644.827449; finalDepth = 656.414885; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.199783 # Actual altitude: 37.199783 # Commanded vehicle depth: 656.414885 # Seafloor depth: -687.232485 # behavior reson { duration = RESON_DURATION; MB_Range = 130.20; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.16; MB_Bottom_Detect_Filter_Max_Range = 130.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 130.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140533 meters # Minimum depth: 669.827449 meters looking forward 50.000000 meters along route # Maximum depth: 680.867827 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 644.827449 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 = 632.079129; finalDepth = 644.827449; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.040378 # Actual altitude: 36.040378 # Commanded vehicle depth: 644.827449 # Seafloor depth: -680.867827 # behavior reson { duration = RESON_DURATION; MB_Range = 126.14; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.81; MB_Bottom_Detect_Filter_Max_Range = 126.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 126.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.167401 meters # Minimum depth: 657.079129 meters looking forward 50.000000 meters along route # Maximum depth: 669.540445 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 632.079129 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 = 620.618311; finalDepth = 632.079129; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.461316 # Actual altitude: 37.461316 # Commanded vehicle depth: 632.079129 # Seafloor depth: -669.540445 # behavior reson { duration = RESON_DURATION; MB_Range = 131.11; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 131.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.113528 meters # Minimum depth: 645.618311 meters looking forward 50.000000 meters along route # Maximum depth: 657.073375 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 620.618311 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 = 614.944090; finalDepth = 620.618311; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.461316 # Actual altitude: 37.461316 # Commanded vehicle depth: 620.618311 # Seafloor depth: -657.073375 # behavior reson { duration = RESON_DURATION; MB_Range = 131.11; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.24; MB_Bottom_Detect_Filter_Max_Range = 131.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140396 meters # Minimum depth: 639.944090 meters looking forward 50.000000 meters along route # Maximum depth: 645.442085 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 614.944090 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 = 608.286074; finalDepth = 614.944090; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.4550640000001 # Actual altitude: 36.4550640000001 # Commanded vehicle depth: 614.94409 # Seafloor depth: -645.442085 # behavior reson { duration = RESON_DURATION; MB_Range = 127.59; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.94; MB_Bottom_Detect_Filter_Max_Range = 127.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140350 meters # Minimum depth: 633.286074 meters looking forward 50.000000 meters along route # Maximum depth: 639.933990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 608.286074 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 = 597.425396; finalDepth = 608.286074; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.647916 # Actual altitude: 31.647916 # Commanded vehicle depth: 608.286074 # Seafloor depth: -639.933990 # behavior reson { duration = RESON_DURATION; MB_Range = 110.77; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.49; MB_Bottom_Detect_Filter_Max_Range = 110.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140304 meters # Minimum depth: 622.425396 meters looking forward 50.000000 meters along route # Maximum depth: 633.014702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 597.425396 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 = 589.141793; finalDepth = 597.425396; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.5893060000001 # Actual altitude: 35.5893060000001 # Commanded vehicle depth: 597.425396 # Seafloor depth: -633.014702 # behavior reson { duration = RESON_DURATION; MB_Range = 124.56; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.68; MB_Bottom_Detect_Filter_Max_Range = 124.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140259 meters # Minimum depth: 614.141793 meters looking forward 50.000000 meters along route # Maximum depth: 622.371278 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 589.141793 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 = 573.980291; finalDepth = 589.141793; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.5893060000001 # Actual altitude: 35.5893060000001 # Commanded vehicle depth: 589.141793 # Seafloor depth: -622.371278 # behavior reson { duration = RESON_DURATION; MB_Range = 124.56; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.68; MB_Bottom_Detect_Filter_Max_Range = 124.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140213 meters # Minimum depth: 598.980291 meters looking forward 50.000000 meters along route # Maximum depth: 613.822956 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 573.980291 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 = 558.062858; finalDepth = 573.980291; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.842665 # Actual altitude: 39.842665 # Commanded vehicle depth: 573.980291 # Seafloor depth: -613.822956 # behavior reson { duration = RESON_DURATION; MB_Range = 139.45; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.95; MB_Bottom_Detect_Filter_Max_Range = 139.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 139.45; 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: 583.062858 meters looking forward 50.000000 meters along route # Maximum depth: 598.873322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 558.062858 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 = 542.302842; finalDepth = 558.062858; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.810464 # Actual altitude: 40.810464 # Commanded vehicle depth: 558.062858 # Seafloor depth: -598.873322 # behavior reson { duration = RESON_DURATION; MB_Range = 142.84; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140122 meters # Minimum depth: 567.302842 meters looking forward 50.000000 meters along route # Maximum depth: 582.449819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 542.302842 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 = 525.423774; finalDepth = 542.302842; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.810464 # Actual altitude: 40.810464 # Commanded vehicle depth: 542.302842 # Seafloor depth: -582.449819 # behavior reson { duration = RESON_DURATION; MB_Range = 142.84; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.24; MB_Bottom_Detect_Filter_Max_Range = 142.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140076 meters # Minimum depth: 550.423774 meters looking forward 50.000000 meters along route # Maximum depth: 567.184580 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 525.423774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783308; longitude = -121.980160; duration = 100; initialDepth = 506.123327; finalDepth = 525.423774; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.760806 # Actual altitude: 41.760806 # Commanded vehicle depth: 525.423774 # Seafloor depth: -567.184580 # behavior reson { duration = RESON_DURATION; MB_Range = 146.16; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.53; MB_Bottom_Detect_Filter_Max_Range = 146.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.140030 meters # Minimum depth: 531.123327 meters looking forward 50.000000 meters along route # Maximum depth: 549.811778 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 506.123327 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 = 491.422169; finalDepth = 506.123327; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.688451 # Actual altitude: 43.688451 # Commanded vehicle depth: 506.123327 # Seafloor depth: -549.811778 # behavior reson { duration = RESON_DURATION; MB_Range = 152.91; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.11; MB_Bottom_Detect_Filter_Max_Range = 152.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139984 meters # Minimum depth: 516.422169 meters looking forward 50.000000 meters along route # Maximum depth: 530.903946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 491.422169 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 = 480.219386; finalDepth = 491.422169; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.688451 # Actual altitude: 43.688451 # Commanded vehicle depth: 491.422169 # Seafloor depth: -530.903946 # behavior reson { duration = RESON_DURATION; MB_Range = 152.91; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.11; MB_Bottom_Detect_Filter_Max_Range = 152.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; 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: 505.219386 meters looking forward 50.000000 meters along route # Maximum depth: 515.757578 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 480.219386 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 = 471.714143; finalDepth = 480.219386; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.481777 # Actual altitude: 39.481777 # Commanded vehicle depth: 480.219386 # Seafloor depth: -515.757578 # behavior reson { duration = RESON_DURATION; MB_Range = 138.19; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.84; MB_Bottom_Detect_Filter_Max_Range = 138.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 138.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139893 meters # Minimum depth: 496.714143 meters looking forward 50.000000 meters along route # Maximum depth: 505.051277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 471.714143 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 = 462.176040; finalDepth = 471.714143; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.538192 # Actual altitude: 35.538192 # Commanded vehicle depth: 471.714143 # Seafloor depth: -505.051277 # behavior reson { duration = RESON_DURATION; MB_Range = 124.38; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.66; MB_Bottom_Detect_Filter_Max_Range = 124.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139847 meters # Minimum depth: 487.176040 meters looking forward 50.000000 meters along route # Maximum depth: 496.331475 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 462.176040 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 = 446.707874; finalDepth = 462.176040; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.155435 # Actual altitude: 34.155435 # Commanded vehicle depth: 462.17604 # Seafloor depth: -496.331475 # behavior reson { duration = RESON_DURATION; MB_Range = 119.54; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.25; MB_Bottom_Detect_Filter_Max_Range = 119.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 119.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.181643 meters # Minimum depth: 471.707874 meters looking forward 50.000000 meters along route # Maximum depth: 486.974132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 446.707874 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 = 429.556250; finalDepth = 446.707874; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.266258 # Actual altitude: 40.266258 # Commanded vehicle depth: 446.707874 # Seafloor depth: -486.974132 # behavior reson { duration = RESON_DURATION; MB_Range = 140.93; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.08; MB_Bottom_Detect_Filter_Max_Range = 140.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 140.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.097914 meters # Minimum depth: 454.556250 meters looking forward 50.000000 meters along route # Maximum depth: 471.703550 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 429.556250 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 = 407.129916; finalDepth = 429.556250; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1473 # Actual altitude: 42.1473 # Commanded vehicle depth: 429.55625 # Seafloor depth: -471.703550 # behavior reson { duration = RESON_DURATION; MB_Range = 147.52; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 147.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139710 meters # Minimum depth: 432.129916 meters looking forward 50.000000 meters along route # Maximum depth: 454.046106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 407.129916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786557; longitude = -121.978188; duration = 100; initialDepth = 385.354826; finalDepth = 407.129916; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.91619 # Actual altitude: 46.91619 # Commanded vehicle depth: 407.129916 # Seafloor depth: -454.046106 # behavior reson { duration = RESON_DURATION; MB_Range = 164.21; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 164.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139664 meters # Minimum depth: 410.354826 meters looking forward 50.000000 meters along route # Maximum depth: 432.045151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 385.354826 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 = 357.601906; finalDepth = 385.354826; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.91619 # Actual altitude: 46.91619 # Commanded vehicle depth: 385.354826 # Seafloor depth: -432.045151 # behavior reson { duration = RESON_DURATION; MB_Range = 164.21; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 164.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139618 meters # Minimum depth: 382.601906 meters looking forward 50.000000 meters along route # Maximum depth: 409.902867 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 357.601906 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 = 334.604258; finalDepth = 357.601906; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.300961 # Actual altitude: 52.300961 # Commanded vehicle depth: 357.601906 # Seafloor depth: -409.902867 # behavior reson { duration = RESON_DURATION; MB_Range = 183.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 183.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139573 meters # Minimum depth: 359.604258 meters looking forward 50.000000 meters along route # Maximum depth: 382.477086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 334.604258 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 = 321.577331; finalDepth = 334.604258; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.300961 # Actual altitude: 52.300961 # Commanded vehicle depth: 334.604258 # Seafloor depth: -382.477086 # behavior reson { duration = RESON_DURATION; MB_Range = 183.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 183.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139527 meters # Minimum depth: 346.577331 meters looking forward 50.000000 meters along route # Maximum depth: 358.984365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 321.577331 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 = 311.106283; finalDepth = 321.577331; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.872828 # Actual altitude: 47.872828 # Commanded vehicle depth: 321.577331 # Seafloor depth: -358.984365 # behavior reson { duration = RESON_DURATION; MB_Range = 167.55; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 167.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139481 meters # Minimum depth: 336.106283 meters looking forward 50.000000 meters along route # Maximum depth: 346.550033 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 311.106283 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 = 302.190560; finalDepth = 311.106283; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.407034 # Actual altitude: 37.407034 # Commanded vehicle depth: 311.106283 # Seafloor depth: -346.550033 # behavior reson { duration = RESON_DURATION; MB_Range = 130.92; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.22; MB_Bottom_Detect_Filter_Max_Range = 130.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 130.92; 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: 327.190560 meters looking forward 50.000000 meters along route # Maximum depth: 335.918734 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 302.190560 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 = 293.707169; finalDepth = 302.190560; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.44375 # Actual altitude: 35.44375 # Commanded vehicle depth: 302.19056 # Seafloor depth: -335.918734 # behavior reson { duration = RESON_DURATION; MB_Range = 124.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 124.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139390 meters # Minimum depth: 318.707169 meters looking forward 50.000000 meters along route # Maximum depth: 327.091984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 293.707169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789400; longitude = -121.976462; duration = 100; initialDepth = 283.915887; finalDepth = 293.707169; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.728174 # Actual altitude: 33.728174 # Commanded vehicle depth: 293.707169 # Seafloor depth: -327.091984 # behavior reson { duration = RESON_DURATION; MB_Range = 118.05; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 118.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 118.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139344 meters # Minimum depth: 308.915887 meters looking forward 50.000000 meters along route # Maximum depth: 318.383376 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 283.915887 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 = 275.184513; finalDepth = 283.915887; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.467489 # Actual altitude: 34.467489 # Commanded vehicle depth: 283.915887 # Seafloor depth: -318.383376 # behavior reson { duration = RESON_DURATION; MB_Range = 120.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139298 meters # Minimum depth: 300.184513 meters looking forward 50.000000 meters along route # Maximum depth: 308.827618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 275.184513 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 = 265.686705; finalDepth = 275.184513; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.467489 # Actual altitude: 34.467489 # Commanded vehicle depth: 275.184513 # Seafloor depth: -308.827618 # behavior reson { duration = RESON_DURATION; MB_Range = 120.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.34; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139253 meters # Minimum depth: 290.686705 meters looking forward 50.000000 meters along route # Maximum depth: 299.817284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 265.686705 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 = 255.939513; finalDepth = 265.686705; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.130579 # Actual altitude: 34.130579 # Commanded vehicle depth: 265.686705 # Seafloor depth: -299.817284 # behavior reson { duration = RESON_DURATION; 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 1 # Segment length 50.139206 meters # Minimum depth: 280.939513 meters looking forward 50.000000 meters along route # Maximum depth: 290.504790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 255.939513 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 = 244.964052; finalDepth = 255.939513; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.565277 # Actual altitude: 34.565277 # Commanded vehicle depth: 255.939513 # Seafloor depth: -290.504790 # behavior reson { duration = RESON_DURATION; MB_Range = 120.98; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 120.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139161 meters # Minimum depth: 269.964052 meters looking forward 50.000000 meters along route # Maximum depth: 280.447744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.964052 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 = 235.629691; finalDepth = 244.964052; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.483692 # Actual altitude: 35.483692 # Commanded vehicle depth: 244.964052 # Seafloor depth: -280.447744 # behavior reson { duration = RESON_DURATION; MB_Range = 124.19; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 124.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.195883 meters # Minimum depth: 260.629691 meters looking forward 50.000000 meters along route # Maximum depth: 269.976788 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.629691 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 = 225.298502; finalDepth = 235.629691; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.483692 # Actual altitude: 35.483692 # Commanded vehicle depth: 235.629691 # Seafloor depth: -269.766516 # behavior reson { duration = RESON_DURATION; MB_Range = 124.19; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.65; MB_Bottom_Detect_Filter_Max_Range = 124.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.082302 meters # Minimum depth: 250.298502 meters looking forward 50.000000 meters along route # Maximum depth: 260.617508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 225.298502 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 = 213.797569; finalDepth = 225.298502; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.319006 # Actual altitude: 35.319006 # Commanded vehicle depth: 225.298502 # Seafloor depth: -260.617508 # behavior reson { duration = RESON_DURATION; MB_Range = 123.62; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.60; MB_Bottom_Detect_Filter_Max_Range = 123.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 123.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.139024 meters # Minimum depth: 238.797569 meters looking forward 50.000000 meters along route # Maximum depth: 250.120064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 213.797569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792649; longitude = -121.974490; duration = 100; initialDepth = 203.183018; finalDepth = 213.797569; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.322495 # Actual altitude: 36.322495 # Commanded vehicle depth: 213.797569 # Seafloor depth: -250.120064 # behavior reson { duration = RESON_DURATION; MB_Range = 127.13; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 127.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138978 meters # Minimum depth: 228.183018 meters looking forward 50.000000 meters along route # Maximum depth: 238.784592 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 203.183018 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 = 191.591296; finalDepth = 203.183018; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.322495 # Actual altitude: 36.322495 # Commanded vehicle depth: 203.183018 # Seafloor depth: -238.784592 # behavior reson { duration = RESON_DURATION; MB_Range = 127.13; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.90; MB_Bottom_Detect_Filter_Max_Range = 127.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138932 meters # Minimum depth: 216.591296 meters looking forward 50.000000 meters along route # Maximum depth: 227.958464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 191.591296 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 = 180.802174; finalDepth = 191.591296; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.367168 # Actual altitude: 36.367168 # Commanded vehicle depth: 191.591296 # Seafloor depth: -227.958464 # behavior reson { duration = RESON_DURATION; MB_Range = 127.29; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.91; MB_Bottom_Detect_Filter_Max_Range = 127.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138887 meters # Minimum depth: 205.802174 meters looking forward 50.000000 meters along route # Maximum depth: 216.539490 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 180.802174 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 = 172.230019; finalDepth = 180.802174; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.367168 # Actual altitude: 36.367168 # Commanded vehicle depth: 180.802174 # Seafloor depth: -216.539490 # behavior reson { duration = RESON_DURATION; MB_Range = 127.29; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.91; MB_Bottom_Detect_Filter_Max_Range = 127.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138841 meters # Minimum depth: 197.230019 meters looking forward 50.000000 meters along route # Maximum depth: 205.538911 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 172.230019 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 = 165.102444; finalDepth = 172.230019; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.737316 # Actual altitude: 35.737316 # Commanded vehicle depth: 172.230019 # Seafloor depth: -205.538911 # behavior reson { duration = RESON_DURATION; MB_Range = 125.08; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.72; MB_Bottom_Detect_Filter_Max_Range = 125.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 125.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138795 meters # Minimum depth: 190.102444 meters looking forward 50.000000 meters along route # Maximum depth: 197.169070 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 165.102444 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 = 155.107264; finalDepth = 165.102444; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.308892 # Actual altitude: 33.308892 # Commanded vehicle depth: 165.102444 # Seafloor depth: -197.169070 # behavior reson { duration = RESON_DURATION; MB_Range = 116.58; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.99; MB_Bottom_Detect_Filter_Max_Range = 116.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138749 meters # Minimum depth: 180.107264 meters looking forward 50.000000 meters along route # Maximum depth: 189.810685 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 155.107264 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 = 143.249794; finalDepth = 155.107264; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.703421 # Actual altitude: 34.703421 # Commanded vehicle depth: 155.107264 # Seafloor depth: -189.810685 # behavior reson { duration = RESON_DURATION; MB_Range = 121.46; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.41; MB_Bottom_Detect_Filter_Max_Range = 121.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 121.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138704 meters # Minimum depth: 168.249794 meters looking forward 50.000000 meters along route # Maximum depth: 179.947221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 143.249794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795492; longitude = -121.972764; duration = 100; initialDepth = 128.932478; finalDepth = 143.249794; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.697427 # Actual altitude: 36.697427 # Commanded vehicle depth: 143.249794 # Seafloor depth: -179.947221 # behavior reson { duration = RESON_DURATION; MB_Range = 128.44; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.01; MB_Bottom_Detect_Filter_Max_Range = 128.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 128.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138658 meters # Minimum depth: 153.932478 meters looking forward 50.000000 meters along route # Maximum depth: 167.972109 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 128.932478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795898; longitude = -121.972518; duration = 100; initialDepth = 116.765804; finalDepth = 128.932478; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.039631 # Actual altitude: 39.039631 # Commanded vehicle depth: 128.932478 # Seafloor depth: -167.972109 # behavior reson { duration = RESON_DURATION; MB_Range = 136.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.71; MB_Bottom_Detect_Filter_Max_Range = 136.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138612 meters # Minimum depth: 141.765804 meters looking forward 50.000000 meters along route # Maximum depth: 153.734890 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 116.765804 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 = 102.375261; finalDepth = 116.765804; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 39.039631 # Actual altitude: 39.039631 # Commanded vehicle depth: 116.765804 # Seafloor depth: -153.734890 # behavior reson { duration = RESON_DURATION; MB_Range = 136.64; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.71; MB_Bottom_Detect_Filter_Max_Range = 136.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138566 meters # Minimum depth: 127.375261 meters looking forward 50.000000 meters along route # Maximum depth: 140.986213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 102.375261 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 = 90.970693; finalDepth = 102.375261; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.610952 # Actual altitude: 38.610952 # Commanded vehicle depth: 102.375261 # Seafloor depth: -140.986213 # behavior reson { duration = RESON_DURATION; MB_Range = 135.14; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.58; MB_Bottom_Detect_Filter_Max_Range = 135.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138521 meters # Minimum depth: 115.970693 meters looking forward 50.000000 meters along route # Maximum depth: 127.170065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 90.970693 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 = 85.171958; finalDepth = 90.970693; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.610952 # Actual altitude: 38.610952 # Commanded vehicle depth: 90.970693 # Seafloor depth: -127.170065 # behavior reson { duration = RESON_DURATION; MB_Range = 135.14; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.58; MB_Bottom_Detect_Filter_Max_Range = 135.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138475 meters # Minimum depth: 110.171958 meters looking forward 50.000000 meters along route # Maximum depth: 115.428438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 85.171958 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 = 81.233506; finalDepth = 85.171958; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.199372 # Actual altitude: 36.199372 # Commanded vehicle depth: 85.171958 # Seafloor depth: -115.428438 # behavior reson { duration = RESON_DURATION; MB_Range = 126.70; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 126.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 126.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.210123 meters # Minimum depth: 106.233506 meters looking forward 50.000000 meters along route # Maximum depth: 110.150285 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 81.233506 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 = 79.481936; finalDepth = 81.233506; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.25648 # Actual altitude: 30.25648 # Commanded vehicle depth: 81.233506 # Seafloor depth: -110.150285 # behavior reson { duration = RESON_DURATION; MB_Range = 105.90; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.08; MB_Bottom_Detect_Filter_Max_Range = 105.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.066690 meters # Minimum depth: 104.481936 meters looking forward 50.000000 meters along route # Maximum depth: 106.547864 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.481936 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 = 78.404998; finalDepth = 79.481936; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.916779 # Actual altitude: 28.916779 # Commanded vehicle depth: 79.481936 # Seafloor depth: -106.228052 # behavior reson { duration = RESON_DURATION; MB_Range = 101.21; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.68; MB_Bottom_Detect_Filter_Max_Range = 101.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138338 meters # Minimum depth: 103.404998 meters looking forward 50.000000 meters along route # Maximum depth: 104.516275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 78.404998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798741; longitude = -121.970792; duration = 100; initialDepth = 77.626571; finalDepth = 78.404998; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.746116 # Actual altitude: 26.746116 # Commanded vehicle depth: 78.404998 # Seafloor depth: -104.516275 # behavior reson { duration = RESON_DURATION; MB_Range = 93.61; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 93.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138292 meters # Minimum depth: 102.626571 meters looking forward 50.000000 meters along route # Maximum depth: 103.788774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.626571 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 = 76.049906; finalDepth = 77.626571; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.111277 # Actual altitude: 26.111277 # Commanded vehicle depth: 77.626571 # Seafloor depth: -103.408604 # behavior reson { duration = RESON_DURATION; MB_Range = 91.39; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.83; MB_Bottom_Detect_Filter_Max_Range = 91.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.138246 meters # Minimum depth: 101.049906 meters looking forward 50.000000 meters along route # Maximum depth: 102.559041 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.049906 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 = 74.540001; finalDepth = 76.049906; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.490128 # Actual altitude: 26.490128 # Commanded vehicle depth: 76.049906 # Seafloor depth: -102.540034 # behavior reson { duration = RESON_DURATION; MB_Range = 92.72; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.95; MB_Bottom_Detect_Filter_Max_Range = 92.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.752165 meters # Minimum depth: 99.540001 meters looking forward 50.000000 meters along route # Maximum depth: 101.489068 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.540001 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 = 74.540001; finalDepth = 74.540001; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 26.887942 # Actual altitude: 26.887942 # Commanded vehicle depth: 74.540001 # Seafloor depth: -101.427943 # behavior reson { duration = RESON_DURATION; MB_Range = 94.11; 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 = 94.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.11; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 26.887942 # Sonar parameter altitude: 26.887942 # Commanded vehicle depth: 74.540001 # Seafloor depth: -99.945450 # behavior reson { duration = RESON_DURATION; MB_Power = 220; MB_Range = 94.11; 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 = 94.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.11; 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: 99.540001 meters looking forward 50.000000 meters along route # Maximum depth: 101.489068 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 982.601294 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.540001 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 = 74.540001; finalDepth = 74.540001; speed = SURVEY_SPEED; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 230.0; pitch = DESCENDPITCH; speed = 1.6; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = 45; heading = 230.0; speed = 1.6; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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 = 100.00; 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 = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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