# 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: 2011_ExtrovertCliff_1v3.rte # Mission File: 2011_ExtrovertCliff_1v3.cfg # Distance: 83370.699989 (m) # Estimated Time: 57845 (s) 16.068 (hr) # Abort Time: 61342 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1657 (s) # Way Points: 108 # Route Points: 738 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Delta Depth Restart: 20 (m) # Maximum Vehicle Depth: 1557.683491 (m) # Abort Vehicle Depth: 1582.683491 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.085432 36.816705 -108.920246 0.000000 3 # 1 -122.080840 36.800660 -483.319122 1826.539538 1 # 2 -122.081587 36.794561 -662.375153 2506.428759 1 # 3 -122.079608 36.787950 -792.413025 3260.800745 1 # 4 -122.078377 36.784795 -855.860672 3627.643251 1 # 5 -122.077331 36.782662 -859.754944 3882.018710 1 # 6 -122.076211 36.781039 -883.698334 4087.951286 1 # 7 -122.076249 36.779026 -902.270218 4311.296079 1 # 8 -122.078227 36.777524 -961.685974 4554.039494 1 # 9 -122.080915 36.776262 -997.974518 4831.790765 1 # 10 -122.082259 36.775090 -1020.036026 5008.685358 1 # 11 -122.082744 36.773528 -1026.391266 5187.294903 1 # 12 -122.083379 36.772025 -1033.466919 5363.402756 1 # 13 -122.083640 36.770373 -1035.900879 5548.146961 1 # 14 -122.084611 36.768690 -1052.580414 5753.988244 1 # 15 -122.086291 36.766527 -1096.977051 6036.944106 1 # 16 -122.087560 36.764424 -1123.338196 6296.287851 1 # 17 -122.088867 36.762380 -1158.295471 6551.294586 4 # 18 -122.090248 36.763162 -1156.792786 6702.028854 3 # 19 -122.084947 36.770763 -1059.797638 7668.936627 1 # 20 -122.083491 36.775721 -1006.215073 8234.108942 1 # 21 -122.081923 36.777344 -967.863068 8462.144697 1 # 22 -122.079235 36.778516 -940.563507 8734.996594 1 # 23 -122.077929 36.779477 -914.526154 8892.950640 1 # 24 -122.077817 36.780739 -895.536209 9033.311197 1 # 25 -122.078899 36.782392 -871.162384 9240.558631 1 # 26 -122.079720 36.784615 -869.218094 9497.826656 1 # 27 -122.080728 36.787590 -783.668152 9839.905496 1 # 28 -122.082968 36.795071 -640.830841 10693.563560 4 # 29 -122.080355 36.795462 -598.705078 10930.700175 3 # 30 -122.078339 36.788161 -770.214478 11760.396298 1 # 31 -122.077145 36.785156 -805.584061 12110.377724 1 # 32 -122.080504 36.784254 -859.770676 12426.376186 1 # 33 -122.080803 36.783023 -854.905594 12565.523357 1 # 34 -122.079944 36.781370 -891.438675 12764.280792 1 # 35 -122.079683 36.780408 -918.058716 12873.515470 1 # 36 -122.080616 36.779477 -928.748169 13006.179567 1 # 37 -122.083043 36.778155 -947.453537 13267.749985 1 # 38 -122.084760 36.776322 -976.381470 13522.367857 1 # 39 -122.086328 36.771274 -1060.790131 14099.602823 1 # 40 -122.091778 36.763823 -1163.841766 15058.706908 4 # 41 -122.093272 36.764514 -1159.766418 15212.521051 3 # 42 -122.087859 36.771755 -1046.719147 16149.912729 1 # 43 -122.086291 36.776803 -916.204468 16727.147369 1 # 44 -122.084163 36.778786 -928.898193 17017.767685 1 # 45 -122.081512 36.780288 -878.652786 17307.133780 1 # 46 -122.081064 36.781100 -860.696838 17405.688620 1 # 47 -122.081624 36.782181 -845.338531 17535.608356 1 # 48 -122.081923 36.783834 -803.723068 17720.920353 1 # 49 -122.081960 36.786688 -755.680298 18037.555779 1 # 50 -122.082408 36.790204 -701.229279 18429.658434 3 # 51 -122.077929 36.791015 -686.197235 18839.307814 3 # 52 -122.076659 36.784735 -788.227310 19545.158054 1 # 53 -122.076323 36.783383 -821.151093 19698.114326 1 # 54 -122.074867 36.780949 -836.695450 19997.771724 1 # 55 -122.075091 36.778786 -862.482788 20238.562753 1 # 56 -122.082819 36.780859 -879.669678 20965.539149 1 # 57 -122.085096 36.779477 -920.905945 21220.087818 1 # 58 -122.087336 36.777494 -882.250092 21517.334485 1 # 59 -122.089091 36.772206 -1041.120667 22124.523580 1 # 60 -122.094727 36.765145 -1149.677277 23055.460663 4 # 61 -122.095959 36.765776 -1145.666534 23185.814527 3 # 62 -122.090360 36.772807 -1002.236847 24112.165000 1 # 63 -122.088568 36.778035 -895.818161 24713.794460 1 # 64 -122.086067 36.780228 -860.756210 25043.949390 1 # 65 -122.082147 36.782301 -845.477890 25462.586028 4 # 66 -122.082931 36.783654 -783.205322 25628.189156 3 # 67 -122.086963 36.781130 -838.273026 26084.107180 1 # 68 -122.089912 36.778756 -862.247742 26456.422495 1 # 69 -122.091704 36.773438 -949.688553 27067.682478 1 # 70 -122.097191 36.766407 -1137.977783 27988.676726 4 # 71 -122.098759 36.767218 -1094.097107 28155.052341 3 # 72 -122.093234 36.774099 -924.391251 29063.829563 1 # 73 -122.091218 36.779327 -834.718353 29671.077781 1 # 74 -122.087971 36.782031 -811.031570 30088.144830 1 # 75 -122.082259 36.785546 -765.705887 30729.909887 1 # 76 -122.076249 36.789843 -687.566360 31447.430018 3 # 77 -122.074905 36.783623 -784.518417 32147.811864 1 # 78 -122.073449 36.781100 -773.941177 32456.396039 1 # 79 -122.074121 36.779207 -828.443069 32674.797013 1 # 80 -122.076025 36.777674 -872.847321 32915.201719 1 # 81 -122.079123 36.775901 -925.127151 33254.504831 1 # 82 -122.080803 36.774640 -945.149246 33459.564337 1 # 83 -122.081400 36.773257 -958.987732 33621.979753 1 # 84 -122.081960 36.771815 -968.846741 33789.578052 1 # 85 -122.083715 36.770673 -1035.282166 33991.033822 1 # 86 -122.094802 36.770763 -993.261169 34980.596484 1 # 87 -122.088531 36.763011 -1150.482147 36006.687167 3 # 88 -122.109847 36.728277 -1534.935272 40304.309100 3 # 89 -122.138591 36.714696 -1332.872986 43280.802733 4 # 90 -122.139312 36.716119 -1329.711945 43451.293423 3 # 91 -122.110966 36.729539 -1513.462219 46388.055098 3 # 92 -122.089912 36.763612 -1148.498291 50609.576061 4 # 93 -122.091368 36.764424 -1159.818848 50767.702627 3 # 94 -122.112310 36.730711 -1495.984711 54949.009382 3 # 95 -122.140038 36.717408 -1338.524780 57831.632818 4 # 96 -122.140867 36.718876 -1325.054749 58010.526832 3 # 97 -122.113169 36.731913 -1482.740051 60875.804540 3 # 98 -122.092824 36.765055 -1152.670593 64976.655372 4 # 99 -122.094354 36.765716 -1140.369873 65131.659629 3 # 100 -122.114065 36.732905 -1472.111450 69174.657812 3 # 101 -122.133813 36.723860 -1439.663452 71203.611706 4 # 102 -122.134597 36.725122 -1419.900208 71360.143803 3 # 103 -122.115185 36.734076 -1459.769409 73358.012212 3 # 104 -122.095623 36.766317 -1134.483368 77338.311403 4 # 105 -122.096706 36.766978 -1120.023895 77459.641158 3 # 106 -122.116342 36.735308 -1448.694702 81386.051317 3 # 107 -122.135605 36.726384 -1381.457611 83370.699989 4 # # A total of 738 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61342; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1557.683491; abortDepth = 1582.683491; minAltitude = 50.000000; abortAltitude = 30.000000; deltaDepthRestart = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1657; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 148.418189 meters # Minimum depth: 1381.457611 meters looking forward 100.000000 meters along route # Maximum depth: 1400.861881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.457611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726384; longitude = -122.135605; duration = 296; # abortOnTimeout = True; initialDepth = 1353.531894; finalDepth = 1331.457611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1331.457611 # Seafloor depth: -1381.457611 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 100.227369 meters # Minimum depth: 1403.531894 meters looking forward 100.000000 meters along route # Maximum depth: 1439.680069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.531894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727051; longitude = -122.134165; duration = 200; initialDepth = 1391.414805; finalDepth = 1353.531894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1353.531894 # Seafloor depth: -1403.531894 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 100.226948 meters # Minimum depth: 1441.414805 meters looking forward 100.000000 meters along route # Maximum depth: 1444.561573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.414805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727502; longitude = -122.133192; duration = 200; initialDepth = 1370.348697; finalDepth = 1391.414805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1391.414805 # Seafloor depth: -1441.414805 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 100.226527 meters # Minimum depth: 1420.348697 meters looking forward 100.000000 meters along route # Maximum depth: 1440.854924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.348697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727953; longitude = -122.132219; duration = 200; initialDepth = 1354.977005; finalDepth = 1370.348697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5062270000001 # Actual altitude: 70.5062270000001 # Commanded vehicle depth: 1370.348697 # Seafloor depth: -1440.854924 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.20; 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 107 # Segment length 100.226105 meters # Minimum depth: 1404.977005 meters looking forward 100.000000 meters along route # Maximum depth: 1417.239115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.977005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728403; longitude = -122.131246; duration = 200; initialDepth = 1358.059714; finalDepth = 1354.977005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5062270000001 # Actual altitude: 70.5062270000001 # Commanded vehicle depth: 1354.977005 # Seafloor depth: -1417.239115 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.20; 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 107 # Segment length 100.225683 meters # Minimum depth: 1408.059714 meters looking forward 100.000000 meters along route # Maximum depth: 1418.751200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.059714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728854; longitude = -122.130273; duration = 200; initialDepth = 1361.585545; finalDepth = 1358.059714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2621100000001 # Actual altitude: 62.2621100000001 # Commanded vehicle depth: 1358.059714 # Seafloor depth: -1408.059714 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.90; 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 107 # Segment length 100.225262 meters # Minimum depth: 1411.585545 meters looking forward 100.000000 meters along route # Maximum depth: 1417.102325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.585545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729305; longitude = -122.129301; duration = 200; initialDepth = 1363.539085; finalDepth = 1361.585545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5167800000002 # Actual altitude: 55.5167800000002 # Commanded vehicle depth: 1361.585545 # Seafloor depth: -1417.102325 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.21; 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 107 # Segment length 100.224841 meters # Minimum depth: 1413.539085 meters looking forward 100.000000 meters along route # Maximum depth: 1422.764660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.539085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729755; longitude = -122.128328; duration = 200; initialDepth = 1373.325934; finalDepth = 1363.539085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5167800000002 # Actual altitude: 55.5167800000002 # Commanded vehicle depth: 1363.539085 # Seafloor depth: -1413.539085 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.21; 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 107 # Segment length 100.224419 meters # Minimum depth: 1423.325934 meters looking forward 100.000000 meters along route # Maximum depth: 1424.081774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.325934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730206; longitude = -122.127355; duration = 200; initialDepth = 1372.275967; finalDepth = 1373.325934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.169408 # Actual altitude: 50.169408 # Commanded vehicle depth: 1373.325934 # Seafloor depth: -1423.495342 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.07; 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 107 # Segment length 100.223997 meters # Minimum depth: 1422.275967 meters looking forward 100.000000 meters along route # Maximum depth: 1422.840738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.275967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730657; longitude = -122.126382; duration = 200; initialDepth = 1372.899105; finalDepth = 1372.275967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4834599999999 # Actual altitude: 50.4834599999999 # Commanded vehicle depth: 1372.275967 # Seafloor depth: -1422.759427 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.19; 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 107 # Segment length 100.223577 meters # Minimum depth: 1422.899105 meters looking forward 100.000000 meters along route # Maximum depth: 1424.502089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.899105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731107; longitude = -122.125410; duration = 200; initialDepth = 1375.797285; finalDepth = 1372.899105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4834599999999 # Actual altitude: 50.4834599999999 # Commanded vehicle depth: 1372.899105 # Seafloor depth: -1422.899105 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.19; 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 107 # Segment length 100.223155 meters # Minimum depth: 1425.797285 meters looking forward 100.000000 meters along route # Maximum depth: 1426.269630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.797285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731558; longitude = -122.124437; duration = 200; initialDepth = 1376.727027; finalDepth = 1375.797285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2504999999999 # Actual altitude: 50.2504999999999 # Commanded vehicle depth: 1375.797285 # Seafloor depth: -1426.047785 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.10; 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 107 # Segment length 100.222733 meters # Minimum depth: 1426.727027 meters looking forward 100.000000 meters along route # Maximum depth: 1431.225840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.727027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732009; longitude = -122.123464; duration = 200; initialDepth = 1382.201654; finalDepth = 1376.727027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2504999999999 # Actual altitude: 50.2504999999999 # Commanded vehicle depth: 1376.727027 # Seafloor depth: -1426.727027 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.10; 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 107 # Segment length 100.222312 meters # Minimum depth: 1432.201654 meters looking forward 100.000000 meters along route # Maximum depth: 1435.729961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.201654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732459; longitude = -122.122491; duration = 200; initialDepth = 1386.319206; finalDepth = 1382.201654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.201654 # Seafloor depth: -1432.201654 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 100.221891 meters # Minimum depth: 1436.319206 meters looking forward 100.000000 meters along route # Maximum depth: 1438.998867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.319206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732910; longitude = -122.121518; duration = 200; initialDepth = 1390.238941; finalDepth = 1386.319206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.319206 # Seafloor depth: -1436.319206 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 100.221469 meters # Minimum depth: 1440.238941 meters looking forward 100.000000 meters along route # Maximum depth: 1444.289887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.238941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733361; longitude = -122.120546; duration = 200; initialDepth = 1394.667773; finalDepth = 1390.238941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1390.238941 # Seafloor depth: -1440.238941 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 103.665811 meters # Minimum depth: 1444.667773 meters looking forward 100.000000 meters along route # Maximum depth: 1447.703833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.667773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733811; longitude = -122.119573; duration = 207; initialDepth = 1397.141792; finalDepth = 1394.667773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.667773 # Seafloor depth: -1444.667773 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 107 # Segment length 114.665519 meters # Minimum depth: 1447.141792 meters looking forward 100.000000 meters along route # Maximum depth: 1448.141518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.141792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734277; longitude = -122.118567; duration = 229; initialDepth = 1398.536758; finalDepth = 1397.141792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.569389 # Actual altitude: 50.569389 # Commanded vehicle depth: 1397.141792 # Seafloor depth: -1447.711181 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.23; 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 107 # Segment length 114.532865 meters # Minimum depth: 1448.536758 meters looking forward 100.000000 meters along route # Maximum depth: 1448.986429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.536758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734793; longitude = -122.117454; duration = 229; initialDepth = 1395.941202; finalDepth = 1398.536758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.569389 # Actual altitude: 50.569389 # Commanded vehicle depth: 1398.536758 # Seafloor depth: -1448.536758 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.23; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 121.732116 meters # Minimum depth: 1445.941202 meters looking forward 100.000000 meters along route # Maximum depth: 1448.694702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.941202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735308; longitude = -122.116342; duration = 243; # abortOnTimeout = True; initialDepth = 1390.746696; finalDepth = 1395.941202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7535 # Actual altitude: 52.7535 # Commanded vehicle depth: 1395.941202 # Seafloor depth: -1448.694702 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.10; 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 106 # Segment length 111.748076 meters # Minimum depth: 1440.746696 meters looking forward 100.000000 meters along route # Maximum depth: 1445.469354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.746696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736290; longitude = -122.115733; duration = 223; initialDepth = 1386.202546; finalDepth = 1390.746696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7226580000001 # Actual altitude: 54.7226580000001 # Commanded vehicle depth: 1390.746696 # Seafloor depth: -1445.469354 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.89; 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 106 # Segment length 111.747841 meters # Minimum depth: 1436.202546 meters looking forward 100.000000 meters along route # Maximum depth: 1440.089654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.202546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737191; longitude = -122.115174; duration = 223; initialDepth = 1381.613110; finalDepth = 1386.202546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7226580000001 # Actual altitude: 54.7226580000001 # Commanded vehicle depth: 1386.202546 # Seafloor depth: -1440.089654 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.89; 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 106 # Segment length 111.747604 meters # Minimum depth: 1431.613110 meters looking forward 100.000000 meters along route # Maximum depth: 1436.030659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.613110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738092; longitude = -122.114616; duration = 223; initialDepth = 1381.139345; finalDepth = 1381.613110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.417549 # Actual altitude: 54.417549 # Commanded vehicle depth: 1381.61311 # Seafloor depth: -1436.030659 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.77; 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 106 # Segment length 111.747368 meters # Minimum depth: 1431.139345 meters looking forward 100.000000 meters along route # Maximum depth: 1431.750301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.139345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738994; longitude = -122.114057; duration = 223; initialDepth = 1377.595340; finalDepth = 1381.139345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.417549 # Actual altitude: 54.417549 # Commanded vehicle depth: 1381.139345 # Seafloor depth: -1431.191600 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.77; 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 106 # Segment length 111.747132 meters # Minimum depth: 1427.595340 meters looking forward 100.000000 meters along route # Maximum depth: 1431.287027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.595340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739895; longitude = -122.113498; duration = 223; initialDepth = 1367.670788; finalDepth = 1377.595340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.691687 # Actual altitude: 53.691687 # Commanded vehicle depth: 1377.59534 # Seafloor depth: -1431.287027 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.48; 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 106 # Segment length 111.746896 meters # Minimum depth: 1417.670788 meters looking forward 100.000000 meters along route # Maximum depth: 1427.086346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.670788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740796; longitude = -122.112939; duration = 223; initialDepth = 1365.778666; finalDepth = 1367.670788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4155580000001 # Actual altitude: 59.4155580000001 # Commanded vehicle depth: 1367.670788 # Seafloor depth: -1427.086346 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.77; 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 106 # Segment length 111.746659 meters # Minimum depth: 1415.778666 meters looking forward 100.000000 meters along route # Maximum depth: 1417.162480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.778666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741698; longitude = -122.112380; duration = 223; initialDepth = 1365.578951; finalDepth = 1365.778666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4155580000001 # Actual altitude: 59.4155580000001 # Commanded vehicle depth: 1365.778666 # Seafloor depth: -1417.162480 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.77; 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 106 # Segment length 111.746423 meters # Minimum depth: 1415.578951 meters looking forward 100.000000 meters along route # Maximum depth: 1416.614827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.578951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742599; longitude = -122.111821; duration = 223; initialDepth = 1364.422410; finalDepth = 1365.578951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.383814 # Actual altitude: 51.383814 # Commanded vehicle depth: 1365.578951 # Seafloor depth: -1416.614827 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.55; 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 106 # Segment length 111.746187 meters # Minimum depth: 1414.422410 meters looking forward 100.000000 meters along route # Maximum depth: 1416.639023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.422410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743500; longitude = -122.111263; duration = 223; initialDepth = 1361.157338; finalDepth = 1364.422410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2166130000001 # Actual altitude: 52.2166130000001 # Commanded vehicle depth: 1364.42241 # Seafloor depth: -1416.639023 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.89; 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 106 # Segment length 111.745951 meters # Minimum depth: 1411.157338 meters looking forward 100.000000 meters along route # Maximum depth: 1414.741588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.157338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744402; longitude = -122.110704; duration = 223; initialDepth = 1358.036847; finalDepth = 1361.157338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5842500000001 # Actual altitude: 53.5842500000001 # Commanded vehicle depth: 1361.157338 # Seafloor depth: -1414.741588 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.43; 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 106 # Segment length 111.745715 meters # Minimum depth: 1408.036847 meters looking forward 100.000000 meters along route # Maximum depth: 1412.093839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.036847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745303; longitude = -122.110145; duration = 223; initialDepth = 1340.103448; finalDepth = 1358.036847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0569919999998 # Actual altitude: 54.0569919999998 # Commanded vehicle depth: 1358.036847 # Seafloor depth: -1412.093839 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.62; 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 106 # Segment length 111.745478 meters # Minimum depth: 1390.103448 meters looking forward 100.000000 meters along route # Maximum depth: 1407.542116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1340.103448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746204; longitude = -122.109586; duration = 223; initialDepth = 1327.084159; finalDepth = 1340.103448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.438668 # Actual altitude: 67.438668 # Commanded vehicle depth: 1340.103448 # Seafloor depth: -1407.542116 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.98; 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 106 # Segment length 111.745242 meters # Minimum depth: 1377.084159 meters looking forward 100.000000 meters along route # Maximum depth: 1387.498000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.084159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747106; longitude = -122.109027; duration = 223; initialDepth = 1313.968911; finalDepth = 1327.084159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.438668 # Actual altitude: 67.438668 # Commanded vehicle depth: 1327.084159 # Seafloor depth: -1387.498000 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.98; 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 106 # Segment length 111.745006 meters # Minimum depth: 1363.968911 meters looking forward 100.000000 meters along route # Maximum depth: 1374.492806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.968911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748007; longitude = -122.108468; duration = 223; initialDepth = 1304.438460; finalDepth = 1313.968911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.523895 # Actual altitude: 60.523895 # Commanded vehicle depth: 1313.968911 # Seafloor depth: -1374.492806 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.21; 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 106 # Segment length 111.744770 meters # Minimum depth: 1354.438460 meters looking forward 100.000000 meters along route # Maximum depth: 1362.713980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.438460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748908; longitude = -122.107910; duration = 223; initialDepth = 1294.549158; finalDepth = 1304.438460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.523895 # Actual altitude: 60.523895 # Commanded vehicle depth: 1304.43846 # Seafloor depth: -1362.713980 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.21; 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 106 # Segment length 111.744534 meters # Minimum depth: 1344.549158 meters looking forward 100.000000 meters along route # Maximum depth: 1352.610351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.549158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749810; longitude = -122.107351; duration = 223; initialDepth = 1286.270769; finalDepth = 1294.549158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2755199999999 # Actual altitude: 58.2755199999999 # Commanded vehicle depth: 1294.549158 # Seafloor depth: -1352.610351 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.31; 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 106 # Segment length 111.744297 meters # Minimum depth: 1336.270769 meters looking forward 100.000000 meters along route # Maximum depth: 1342.771950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.270769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750711; longitude = -122.106792; duration = 223; initialDepth = 1272.808739; finalDepth = 1286.270769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.061193 # Actual altitude: 58.061193 # Commanded vehicle depth: 1286.270769 # Seafloor depth: -1342.771950 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.22; 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 106 # Segment length 111.744061 meters # Minimum depth: 1322.808739 meters looking forward 100.000000 meters along route # Maximum depth: 1334.854536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.808739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751612; longitude = -122.106233; duration = 223; initialDepth = 1249.914924; finalDepth = 1272.808739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.045797 # Actual altitude: 62.045797 # Commanded vehicle depth: 1272.808739 # Seafloor depth: -1334.854536 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.82; 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 106 # Segment length 111.743826 meters # Minimum depth: 1299.914924 meters looking forward 100.000000 meters along route # Maximum depth: 1317.480777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.914924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752514; longitude = -122.105674; duration = 223; initialDepth = 1227.173736; finalDepth = 1249.914924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5658530000001 # Actual altitude: 67.5658530000001 # Commanded vehicle depth: 1249.914924 # Seafloor depth: -1317.480777 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 106 # Segment length 111.743588 meters # Minimum depth: 1277.173736 meters looking forward 100.000000 meters along route # Maximum depth: 1296.713175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.173736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753415; longitude = -122.105115; duration = 223; initialDepth = 1209.015129; finalDepth = 1227.173736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5394390000001 # Actual altitude: 69.5394390000001 # Commanded vehicle depth: 1227.173736 # Seafloor depth: -1296.713175 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.82; 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 106 # Segment length 111.743353 meters # Minimum depth: 1259.015129 meters looking forward 100.000000 meters along route # Maximum depth: 1272.693601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.015129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754316; longitude = -122.104557; duration = 223; initialDepth = 1200.577283; finalDepth = 1209.015129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5394390000001 # Actual altitude: 69.5394390000001 # Commanded vehicle depth: 1209.015129 # Seafloor depth: -1272.693601 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.82; 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 106 # Segment length 111.743117 meters # Minimum depth: 1250.577283 meters looking forward 100.000000 meters along route # Maximum depth: 1256.894433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.577283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755218; longitude = -122.103998; duration = 223; initialDepth = 1187.629740; finalDepth = 1200.577283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6784720000001 # Actual altitude: 63.6784720000001 # Commanded vehicle depth: 1200.577283 # Seafloor depth: -1256.894433 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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 106 # Segment length 111.742880 meters # Minimum depth: 1237.629740 meters looking forward 100.000000 meters along route # Maximum depth: 1249.316049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.629740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756119; longitude = -122.103439; duration = 223; initialDepth = 1185.946819; finalDepth = 1187.629740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6863089999999 # Actual altitude: 61.6863089999999 # Commanded vehicle depth: 1187.62974 # Seafloor depth: -1249.316049 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.67; 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 106 # Segment length 111.742644 meters # Minimum depth: 1235.946819 meters looking forward 100.000000 meters along route # Maximum depth: 1240.282915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.946819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757020; longitude = -122.102880; duration = 223; initialDepth = 1181.689576; finalDepth = 1185.946819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6863089999999 # Actual altitude: 61.6863089999999 # Commanded vehicle depth: 1185.946819 # Seafloor depth: -1235.946819 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.67; 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 106 # Segment length 111.742408 meters # Minimum depth: 1231.689576 meters looking forward 100.000000 meters along route # Maximum depth: 1236.898059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.689576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757921; longitude = -122.102321; duration = 223; initialDepth = 1161.455091; finalDepth = 1181.689576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2084830000001 # Actual altitude: 55.2084830000001 # Commanded vehicle depth: 1181.689576 # Seafloor depth: -1236.898059 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.08; 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 106 # Segment length 111.742172 meters # Minimum depth: 1211.455091 meters looking forward 100.000000 meters along route # Maximum depth: 1229.241958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.455091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758823; longitude = -122.101762; duration = 223; initialDepth = 1118.390835; finalDepth = 1161.455091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.786867 # Actual altitude: 67.786867 # Commanded vehicle depth: 1161.455091 # Seafloor depth: -1229.241958 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.11; 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 106 # Segment length 111.741936 meters # Minimum depth: 1168.390835 meters looking forward 100.000000 meters along route # Maximum depth: 1202.940197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.390835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759724; longitude = -122.101204; duration = 223; initialDepth = 1103.078959; finalDepth = 1118.390835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.549362 # Actual altitude: 84.549362 # Commanded vehicle depth: 1118.390835 # Seafloor depth: -1202.940197 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.82; 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 106 # Segment length 111.741700 meters # Minimum depth: 1153.078959 meters looking forward 100.000000 meters along route # Maximum depth: 1163.190320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.078959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760625; longitude = -122.100645; duration = 223; initialDepth = 1099.272466; finalDepth = 1103.078959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.549362 # Actual altitude: 84.549362 # Commanded vehicle depth: 1103.078959 # Seafloor depth: -1163.190320 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.82; 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 106 # Segment length 111.741463 meters # Minimum depth: 1149.272466 meters looking forward 100.000000 meters along route # Maximum depth: 1156.404969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.272466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761527; longitude = -122.100086; duration = 223; initialDepth = 1092.564988; finalDepth = 1099.272466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.111361 # Actual altitude: 60.111361 # Commanded vehicle depth: 1099.272466 # Seafloor depth: -1155.013582 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.04; 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 106 # Segment length 111.741228 meters # Minimum depth: 1142.564988 meters looking forward 100.000000 meters along route # Maximum depth: 1150.086024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.564988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762428; longitude = -122.099527; duration = 223; initialDepth = 1096.833227; finalDepth = 1092.564988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7411160000001 # Actual altitude: 55.7411160000001 # Commanded vehicle depth: 1092.564988 # Seafloor depth: -1146.527956 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.30; 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 106 # Segment length 111.740991 meters # Minimum depth: 1146.833227 meters looking forward 100.000000 meters along route # Maximum depth: 1157.546942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.833227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763329; longitude = -122.098968; duration = 223; initialDepth = 1084.057487; finalDepth = 1096.833227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.175225 # Actual altitude: 58.175225 # Commanded vehicle depth: 1096.833227 # Seafloor depth: -1155.008452 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.27; 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 106 # Segment length 111.740755 meters # Minimum depth: 1134.057487 meters looking forward 100.000000 meters along route # Maximum depth: 1140.297411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.057487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764231; longitude = -122.098409; duration = 223; initialDepth = 1088.031444; finalDepth = 1084.057487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.175225 # Actual altitude: 58.175225 # Commanded vehicle depth: 1084.057487 # Seafloor depth: -1140.297411 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.27; 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 106 # Segment length 111.740519 meters # Minimum depth: 1138.031444 meters looking forward 100.000000 meters along route # Maximum depth: 1141.490193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.031444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765132; longitude = -122.097851; duration = 223; initialDepth = 1073.451158; finalDepth = 1088.031444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.239924 # Actual altitude: 56.239924 # Commanded vehicle depth: 1088.031444 # Seafloor depth: -1138.031444 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.50; 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 106 # Segment length 117.116223 meters # Minimum depth: 1123.451158 meters looking forward 100.000000 meters along route # Maximum depth: 1140.261809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.451158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766033; longitude = -122.097292; duration = 234; initialDepth = 1070.023895; finalDepth = 1073.451158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.810651 # Actual altitude: 66.810651 # Commanded vehicle depth: 1073.451158 # Seafloor depth: -1140.261809 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.72; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 121.329755 meters # Minimum depth: 1120.023895 meters looking forward 100.000000 meters along route # Maximum depth: 1133.606219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.023895 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766978; longitude = -122.096706; duration = 242; # abortOnTimeout = True; initialDepth = 1084.483368; finalDepth = 1070.023895; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 66.810651 # Actual altitude: 66.810651 # Commanded vehicle depth: 1070.023895 # Seafloor depth: -1120.023895 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.72; 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 104 # Segment length 90.654361 meters # Minimum depth: 1134.483368 meters looking forward 100.000000 meters along route # Maximum depth: 1147.971732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.483368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766317; longitude = -122.095623; duration = 181; # abortOnTimeout = True; initialDepth = 1099.612276; finalDepth = 1084.483368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1084.483368 # Seafloor depth: -1134.483368 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.268020 meters # Minimum depth: 1149.612276 meters looking forward 100.000000 meters along route # Maximum depth: 1170.299683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.612276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765583; longitude = -122.096069; duration = 222; initialDepth = 1121.069916; finalDepth = 1099.612276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1099.612276 # Seafloor depth: -1149.612276 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.268246 meters # Minimum depth: 1171.069916 meters looking forward 100.000000 meters along route # Maximum depth: 1179.445891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.069916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764681; longitude = -122.096615; duration = 222; initialDepth = 1129.907151; finalDepth = 1121.069916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1121.069916 # Seafloor depth: -1171.069916 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.268473 meters # Minimum depth: 1179.907151 meters looking forward 100.000000 meters along route # Maximum depth: 1193.452335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.907151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763780; longitude = -122.097162; duration = 222; initialDepth = 1142.264211; finalDepth = 1129.907151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1129.907151 # Seafloor depth: -1179.907151 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.268699 meters # Minimum depth: 1192.264211 meters looking forward 100.000000 meters along route # Maximum depth: 1193.560452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.264211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762879; longitude = -122.097709; duration = 222; initialDepth = 1143.387751; finalDepth = 1142.264211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.296241 # Actual altitude: 51.296241 # Commanded vehicle depth: 1142.264211 # Seafloor depth: -1193.560452 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 104 # Segment length 112.969563 meters # Minimum depth: 1193.387751 meters looking forward 100.000000 meters along route # Maximum depth: 1205.514393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.387751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761977; longitude = -122.098256; duration = 225; initialDepth = 1155.675832; finalDepth = 1143.387751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.296241 # Actual altitude: 51.296241 # Commanded vehicle depth: 1143.387751 # Seafloor depth: -1193.387751 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 104 # Segment length 113.227088 meters # Minimum depth: 1205.675832 meters looking forward 100.000000 meters along route # Maximum depth: 1219.399861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.675832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761062; longitude = -122.098811; duration = 226; initialDepth = 1170.336551; finalDepth = 1155.675832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1155.675832 # Seafloor depth: -1205.675832 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 113.227323 meters # Minimum depth: 1220.336551 meters looking forward 100.000000 meters along route # Maximum depth: 1242.903989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.336551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760145; longitude = -122.099368; duration = 226; initialDepth = 1193.520629; finalDepth = 1170.336551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1170.336551 # Seafloor depth: -1220.336551 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 113.227558 meters # Minimum depth: 1243.520629 meters looking forward 100.000000 meters along route # Maximum depth: 1253.016122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.520629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759228; longitude = -122.099924; duration = 226; initialDepth = 1203.407289; finalDepth = 1193.520629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1193.520629 # Seafloor depth: -1243.520629 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 113.227792 meters # Minimum depth: 1253.407289 meters looking forward 100.000000 meters along route # Maximum depth: 1260.995783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.407289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758311; longitude = -122.100481; duration = 226; initialDepth = 1211.380017; finalDepth = 1203.407289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1203.407289 # Seafloor depth: -1253.407289 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 101.737624 meters # Minimum depth: 1261.380017 meters looking forward 100.000000 meters along route # Maximum depth: 1263.103474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.380017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757394; longitude = -122.101037; duration = 203; initialDepth = 1210.643027; finalDepth = 1211.380017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1211.380017 # Seafloor depth: -1261.380017 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.270284 meters # Minimum depth: 1260.643027 meters looking forward 100.000000 meters along route # Maximum depth: 1262.447429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.643027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756569; longitude = -122.101537; duration = 222; initialDepth = 1210.568898; finalDepth = 1210.643027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.804402 # Actual altitude: 51.804402 # Commanded vehicle depth: 1210.643027 # Seafloor depth: -1262.447429 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.72; 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 104 # Segment length 111.270510 meters # Minimum depth: 1260.568898 meters looking forward 100.000000 meters along route # Maximum depth: 1262.437408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.568898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755668; longitude = -122.102084; duration = 222; initialDepth = 1215.730726; finalDepth = 1210.568898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.804402 # Actual altitude: 51.804402 # Commanded vehicle depth: 1210.568898 # Seafloor depth: -1261.623677 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.72; 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 104 # Segment length 111.270736 meters # Minimum depth: 1265.730726 meters looking forward 100.000000 meters along route # Maximum depth: 1281.108077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.730726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754767; longitude = -122.102631; duration = 222; initialDepth = 1234.249503; finalDepth = 1215.730726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0547790000001 # Actual altitude: 51.0547790000001 # Commanded vehicle depth: 1215.730726 # Seafloor depth: -1265.730726 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.42; 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 104 # Segment length 111.270963 meters # Minimum depth: 1284.249503 meters looking forward 100.000000 meters along route # Maximum depth: 1301.608796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.249503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753866; longitude = -122.103178; duration = 222; initialDepth = 1256.164107; finalDepth = 1234.249503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1234.249503 # Seafloor depth: -1284.249503 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.271190 meters # Minimum depth: 1306.164107 meters looking forward 100.000000 meters along route # Maximum depth: 1321.307660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1256.164107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752964; longitude = -122.103725; duration = 222; initialDepth = 1275.776446; finalDepth = 1256.164107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1256.164107 # Seafloor depth: -1306.164107 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.271415 meters # Minimum depth: 1325.776446 meters looking forward 100.000000 meters along route # Maximum depth: 1343.651329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.776446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752063; longitude = -122.104272; duration = 222; initialDepth = 1297.886134; finalDepth = 1275.776446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1275.776446 # Seafloor depth: -1325.776446 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.271642 meters # Minimum depth: 1347.886134 meters looking forward 100.000000 meters along route # Maximum depth: 1356.633178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.886134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751162; longitude = -122.104818; duration = 222; initialDepth = 1309.836323; finalDepth = 1297.886134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1297.886134 # Seafloor depth: -1347.886134 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.271869 meters # Minimum depth: 1359.836323 meters looking forward 100.000000 meters along route # Maximum depth: 1367.288390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.836323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750260; longitude = -122.105365; duration = 222; initialDepth = 1319.267723; finalDepth = 1309.836323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1309.836323 # Seafloor depth: -1359.836323 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.272095 meters # Minimum depth: 1369.267723 meters looking forward 100.000000 meters along route # Maximum depth: 1379.262641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.267723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749359; longitude = -122.105912; duration = 222; initialDepth = 1332.162606; finalDepth = 1319.267723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1319.267723 # Seafloor depth: -1369.267723 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.272321 meters # Minimum depth: 1382.162606 meters looking forward 100.000000 meters along route # Maximum depth: 1393.616274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.162606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748458; longitude = -122.106459; duration = 222; initialDepth = 1346.718453; finalDepth = 1332.162606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1332.162606 # Seafloor depth: -1382.162606 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.272548 meters # Minimum depth: 1396.718453 meters looking forward 100.000000 meters along route # Maximum depth: 1405.850434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1346.718453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747556; longitude = -122.107006; duration = 222; initialDepth = 1357.998063; finalDepth = 1346.718453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1346.718453 # Seafloor depth: -1396.718453 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.272774 meters # Minimum depth: 1407.998063 meters looking forward 100.000000 meters along route # Maximum depth: 1415.866975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.998063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746655; longitude = -122.107553; duration = 222; initialDepth = 1365.521758; finalDepth = 1357.998063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1357.998063 # Seafloor depth: -1407.998063 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.273001 meters # Minimum depth: 1415.521758 meters looking forward 100.000000 meters along route # Maximum depth: 1416.503059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.521758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745754; longitude = -122.108100; duration = 222; initialDepth = 1365.301645; finalDepth = 1365.521758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3435609999999 # Actual altitude: 50.3435609999999 # Commanded vehicle depth: 1365.521758 # Seafloor depth: -1415.865319 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; 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 104 # Segment length 111.273227 meters # Minimum depth: 1415.301645 meters looking forward 100.000000 meters along route # Maximum depth: 1416.255226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.301645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744852; longitude = -122.108647; duration = 222; initialDepth = 1365.894345; finalDepth = 1365.301645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.365446 # Actual altitude: 50.365446 # Commanded vehicle depth: 1365.301645 # Seafloor depth: -1415.667091 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.15; 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 104 # Segment length 111.273453 meters # Minimum depth: 1415.894345 meters looking forward 100.000000 meters along route # Maximum depth: 1417.887835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.894345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743951; longitude = -122.109193; duration = 222; initialDepth = 1368.144979; finalDepth = 1365.894345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.365446 # Actual altitude: 50.365446 # Commanded vehicle depth: 1365.894345 # Seafloor depth: -1415.894345 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.15; 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 104 # Segment length 111.273680 meters # Minimum depth: 1418.144979 meters looking forward 100.000000 meters along route # Maximum depth: 1420.724187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.144979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743050; longitude = -122.109740; duration = 222; initialDepth = 1369.604414; finalDepth = 1368.144979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1368.144979 # Seafloor depth: -1418.144979 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.273907 meters # Minimum depth: 1419.604414 meters looking forward 100.000000 meters along route # Maximum depth: 1424.866606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.604414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742148; longitude = -122.110287; duration = 222; initialDepth = 1376.237883; finalDepth = 1369.604414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1369.604414 # Seafloor depth: -1419.604414 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.274132 meters # Minimum depth: 1426.237883 meters looking forward 100.000000 meters along route # Maximum depth: 1438.283360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.237883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741247; longitude = -122.110834; duration = 222; initialDepth = 1389.437322; finalDepth = 1376.237883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1376.237883 # Seafloor depth: -1426.237883 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.274360 meters # Minimum depth: 1439.437322 meters looking forward 100.000000 meters along route # Maximum depth: 1441.884234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.437322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740346; longitude = -122.111381; duration = 222; initialDepth = 1388.401001; finalDepth = 1389.437322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1389.437322 # Seafloor depth: -1439.437322 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.274585 meters # Minimum depth: 1438.401001 meters looking forward 100.000000 meters along route # Maximum depth: 1439.500707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.401001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739444; longitude = -122.111928; duration = 222; initialDepth = 1389.647336; finalDepth = 1388.401001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9036630000001 # Actual altitude: 50.9036630000001 # Commanded vehicle depth: 1388.401001 # Seafloor depth: -1439.304664 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.36; 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 104 # Segment length 111.274813 meters # Minimum depth: 1439.647336 meters looking forward 100.000000 meters along route # Maximum depth: 1443.009803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.647336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738543; longitude = -122.112475; duration = 222; initialDepth = 1393.228659; finalDepth = 1389.647336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9036630000001 # Actual altitude: 50.9036630000001 # Commanded vehicle depth: 1389.647336 # Seafloor depth: -1439.647336 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.36; 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 104 # Segment length 111.275038 meters # Minimum depth: 1443.228659 meters looking forward 100.000000 meters along route # Maximum depth: 1446.683315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.228659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737642; longitude = -122.113021; duration = 222; initialDepth = 1396.765745; finalDepth = 1393.228659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1393.228659 # Seafloor depth: -1443.228659 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 111.275265 meters # Minimum depth: 1446.765745 meters looking forward 100.000000 meters along route # Maximum depth: 1450.775372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.765745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736741; longitude = -122.113568; duration = 222; initialDepth = 1400.779130; finalDepth = 1396.765745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1396.765745 # Seafloor depth: -1446.765745 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 113.142704 meters # Minimum depth: 1450.779130 meters looking forward 100.000000 meters along route # Maximum depth: 1453.881609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.779130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735839; longitude = -122.114115; duration = 226; initialDepth = 1404.004447; finalDepth = 1400.779130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1400.77913 # Seafloor depth: -1450.779130 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 104 # Segment length 104.537932 meters # Minimum depth: 1454.004447 meters looking forward 100.000000 meters along route # Maximum depth: 1458.766334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.004447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734923; longitude = -122.114671; duration = 209; initialDepth = 1409.542612; finalDepth = 1404.004447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1404.004447 # Seafloor depth: -1454.004447 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 159.626755 meters # Minimum depth: 1459.542612 meters looking forward 100.000000 meters along route # Maximum depth: 1459.854263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.542612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734076; longitude = -122.115185; duration = 319; # abortOnTimeout = True; initialDepth = 1408.494314; finalDepth = 1409.542612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.226797 # Actual altitude: 50.226797 # Commanded vehicle depth: 1409.542612 # Seafloor depth: -1459.769409 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.09; 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 103 # Segment length 100.550266 meters # Minimum depth: 1458.494314 meters looking forward 100.000000 meters along route # Maximum depth: 1459.296261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1408.494314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733361; longitude = -122.116736; duration = 201; initialDepth = 1405.745731; finalDepth = 1408.494314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8019469999999 # Actual altitude: 50.8019469999999 # Commanded vehicle depth: 1408.494314 # Seafloor depth: -1459.296261 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; 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 103 # Segment length 100.550690 meters # Minimum depth: 1455.745731 meters looking forward 100.000000 meters along route # Maximum depth: 1458.155852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.745731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732910; longitude = -122.117713; duration = 201; initialDepth = 1404.611677; finalDepth = 1405.745731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4101210000001 # Actual altitude: 52.4101210000001 # Commanded vehicle depth: 1405.745731 # Seafloor depth: -1458.155852 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.96; 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 103 # Segment length 100.551113 meters # Minimum depth: 1454.611677 meters looking forward 100.000000 meters along route # Maximum depth: 1455.513043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.611677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732459; longitude = -122.118690; duration = 201; initialDepth = 1403.059226; finalDepth = 1404.611677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4101210000001 # Actual altitude: 52.4101210000001 # Commanded vehicle depth: 1404.611677 # Seafloor depth: -1455.513043 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.96; 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 103 # Segment length 100.551536 meters # Minimum depth: 1453.059226 meters looking forward 100.000000 meters along route # Maximum depth: 1454.409373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.059226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732009; longitude = -122.119667; duration = 201; initialDepth = 1400.696223; finalDepth = 1403.059226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3501469999999 # Actual altitude: 51.3501469999999 # Commanded vehicle depth: 1403.059226 # Seafloor depth: -1454.409373 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.54; 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 103 # Segment length 100.551961 meters # Minimum depth: 1450.696223 meters looking forward 100.000000 meters along route # Maximum depth: 1452.735317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.696223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731558; longitude = -122.120644; duration = 201; initialDepth = 1397.766973; finalDepth = 1400.696223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.039094 # Actual altitude: 52.039094 # Commanded vehicle depth: 1400.696223 # Seafloor depth: -1452.735317 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 103 # Segment length 100.552384 meters # Minimum depth: 1447.766973 meters looking forward 100.000000 meters along route # Maximum depth: 1449.828631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.766973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731107; longitude = -122.121621; duration = 201; initialDepth = 1398.062088; finalDepth = 1397.766973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0616580000001 # Actual altitude: 52.0616580000001 # Commanded vehicle depth: 1397.766973 # Seafloor depth: -1449.828631 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 103 # Segment length 100.552807 meters # Minimum depth: 1448.062088 meters looking forward 100.000000 meters along route # Maximum depth: 1450.813283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.062088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730657; longitude = -122.122598; duration = 201; initialDepth = 1400.813451; finalDepth = 1398.062088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0616580000001 # Actual altitude: 52.0616580000001 # Commanded vehicle depth: 1398.062088 # Seafloor depth: -1448.062088 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 103 # Segment length 100.553231 meters # Minimum depth: 1450.813451 meters looking forward 100.000000 meters along route # Maximum depth: 1452.763598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.813451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730206; longitude = -122.123575; duration = 201; initialDepth = 1397.144844; finalDepth = 1400.813451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1400.813451 # Seafloor depth: -1450.813451 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 103 # Segment length 100.553655 meters # Minimum depth: 1447.144844 meters looking forward 100.000000 meters along route # Maximum depth: 1452.046557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.144844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729755; longitude = -122.124552; duration = 201; initialDepth = 1390.816286; finalDepth = 1397.144844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.901713 # Actual altitude: 54.901713 # Commanded vehicle depth: 1397.144844 # Seafloor depth: -1452.046557 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.96; 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 103 # Segment length 100.554079 meters # Minimum depth: 1440.816286 meters looking forward 100.000000 meters along route # Maximum depth: 1447.116447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.816286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729305; longitude = -122.125529; duration = 201; initialDepth = 1383.537340; finalDepth = 1390.816286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3001610000001 # Actual altitude: 56.3001610000001 # Commanded vehicle depth: 1390.816286 # Seafloor depth: -1447.116447 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.52; 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 103 # Segment length 100.554502 meters # Minimum depth: 1433.537340 meters looking forward 100.000000 meters along route # Maximum depth: 1439.331052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.537340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728854; longitude = -122.126506; duration = 201; initialDepth = 1383.901739; finalDepth = 1383.537340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3001610000001 # Actual altitude: 56.3001610000001 # Commanded vehicle depth: 1383.53734 # Seafloor depth: -1439.331052 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.52; 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 103 # Segment length 100.554926 meters # Minimum depth: 1433.901739 meters looking forward 100.000000 meters along route # Maximum depth: 1444.312439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.901739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728403; longitude = -122.127483; duration = 201; initialDepth = 1392.198201; finalDepth = 1383.901739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7937119999999 # Actual altitude: 55.7937119999999 # Commanded vehicle depth: 1383.901739 # Seafloor depth: -1433.901739 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.32; 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 103 # Segment length 100.555350 meters # Minimum depth: 1442.198201 meters looking forward 100.000000 meters along route # Maximum depth: 1444.688607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.198201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727953; longitude = -122.128460; duration = 201; initialDepth = 1393.868524; finalDepth = 1392.198201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4904060000001 # Actual altitude: 52.4904060000001 # Commanded vehicle depth: 1392.198201 # Seafloor depth: -1444.688607 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.00; 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 103 # Segment length 100.555773 meters # Minimum depth: 1443.868524 meters looking forward 100.000000 meters along route # Maximum depth: 1459.156153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.868524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727502; longitude = -122.129437; duration = 201; initialDepth = 1405.887809; finalDepth = 1393.868524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4904060000001 # Actual altitude: 52.4904060000001 # Commanded vehicle depth: 1393.868524 # Seafloor depth: -1443.868524 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.00; 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 103 # Segment length 100.556197 meters # Minimum depth: 1455.887809 meters looking forward 100.000000 meters along route # Maximum depth: 1463.716834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.887809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727051; longitude = -122.130414; duration = 201; initialDepth = 1382.840372; finalDepth = 1405.887809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3102699999999 # Actual altitude: 56.3102699999999 # Commanded vehicle depth: 1405.887809 # Seafloor depth: -1462.198079 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.52; 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 103 # Segment length 111.947394 meters # Minimum depth: 1432.840372 meters looking forward 100.000000 meters along route # Maximum depth: 1455.321916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.840372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726601; longitude = -122.131391; duration = 223; initialDepth = 1383.176478; finalDepth = 1382.840372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4815440000002 # Actual altitude: 72.4815440000002 # Commanded vehicle depth: 1382.840372 # Seafloor depth: -1455.321916 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.99; 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 103 # Segment length 114.551275 meters # Minimum depth: 1433.176478 meters looking forward 100.000000 meters along route # Maximum depth: 1438.630578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.176478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726099; longitude = -122.132479; duration = 229; initialDepth = 1371.879645; finalDepth = 1383.176478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4815440000002 # Actual altitude: 72.4815440000002 # Commanded vehicle depth: 1383.176478 # Seafloor depth: -1433.176478 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.99; 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 103 # Segment length 103.444515 meters # Minimum depth: 1421.879645 meters looking forward 100.000000 meters along route # Maximum depth: 1432.065096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.879645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725586; longitude = -122.133592; duration = 206; initialDepth = 1369.900208; finalDepth = 1371.879645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.1854510000001 # Actual altitude: 60.1854510000001 # Commanded vehicle depth: 1371.879645 # Seafloor depth: -1432.065096 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.07; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 156.532097 meters # Minimum depth: 1419.900208 meters looking forward 100.000000 meters along route # Maximum depth: 1442.622025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.900208 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725122; longitude = -122.134597; duration = 313; # abortOnTimeout = True; initialDepth = 1389.663452; finalDepth = 1369.900208; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 60.1854510000001 # Actual altitude: 60.1854510000001 # Commanded vehicle depth: 1369.900208 # Seafloor depth: -1419.900208 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.07; 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 101 # Segment length 159.881014 meters # Minimum depth: 1439.663452 meters looking forward 100.000000 meters along route # Maximum depth: 1457.642104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.663452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723860; longitude = -122.133813; duration = 319; # abortOnTimeout = True; initialDepth = 1410.107064; finalDepth = 1389.663452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1389.663452 # Seafloor depth: -1439.663452 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.094145 meters # Minimum depth: 1460.107064 meters looking forward 100.000000 meters along route # Maximum depth: 1461.768759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.107064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724573; longitude = -122.132257; duration = 202; initialDepth = 1410.487071; finalDepth = 1410.107064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1410.107064 # Seafloor depth: -1460.107064 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.093717 meters # Minimum depth: 1460.487071 meters looking forward 100.000000 meters along route # Maximum depth: 1466.741263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.487071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725023; longitude = -122.131273; duration = 202; initialDepth = 1420.795182; finalDepth = 1410.487071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1410.487071 # Seafloor depth: -1460.487071 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.093290 meters # Minimum depth: 1470.795182 meters looking forward 100.000000 meters along route # Maximum depth: 1488.968651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.795182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725474; longitude = -122.130289; duration = 202; initialDepth = 1431.799303; finalDepth = 1420.795182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1420.795182 # Seafloor depth: -1470.795182 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.092862 meters # Minimum depth: 1481.799303 meters looking forward 100.000000 meters along route # Maximum depth: 1490.145610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.799303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725925; longitude = -122.129305; duration = 202; initialDepth = 1422.087052; finalDepth = 1431.799303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0625210000001 # Actual altitude: 58.0625210000001 # Commanded vehicle depth: 1431.799303 # Seafloor depth: -1489.861824 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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 101 # Segment length 101.092435 meters # Minimum depth: 1472.087052 meters looking forward 100.000000 meters along route # Maximum depth: 1478.202743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.087052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726375; longitude = -122.128321; duration = 202; initialDepth = 1410.690788; finalDepth = 1422.087052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0625210000001 # Actual altitude: 58.0625210000001 # Commanded vehicle depth: 1422.087052 # Seafloor depth: -1478.202743 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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 101 # Segment length 101.092008 meters # Minimum depth: 1460.690788 meters looking forward 100.000000 meters along route # Maximum depth: 1469.473108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.690788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726826; longitude = -122.127337; duration = 202; initialDepth = 1410.701586; finalDepth = 1410.690788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7823199999998 # Actual altitude: 58.7823199999998 # Commanded vehicle depth: 1410.690788 # Seafloor depth: -1469.473108 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.51; 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 101 # Segment length 101.091580 meters # Minimum depth: 1460.701586 meters looking forward 100.000000 meters along route # Maximum depth: 1470.477215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.701586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727277; longitude = -122.126353; duration = 202; initialDepth = 1420.934490; finalDepth = 1410.701586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7823199999998 # Actual altitude: 58.7823199999998 # Commanded vehicle depth: 1410.701586 # Seafloor depth: -1460.701586 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.51; 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 101 # Segment length 101.091153 meters # Minimum depth: 1470.934490 meters looking forward 100.000000 meters along route # Maximum depth: 1473.442348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.934490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727727; longitude = -122.125369; duration = 202; initialDepth = 1423.223249; finalDepth = 1420.934490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1420.93449 # Seafloor depth: -1470.934490 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.090725 meters # Minimum depth: 1473.223249 meters looking forward 100.000000 meters along route # Maximum depth: 1474.184838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.223249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728178; longitude = -122.124386; duration = 202; initialDepth = 1418.483111; finalDepth = 1423.223249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308745 # Actual altitude: 50.308745 # Commanded vehicle depth: 1423.223249 # Seafloor depth: -1473.531994 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.12; 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 101 # Segment length 101.090298 meters # Minimum depth: 1468.483111 meters looking forward 100.000000 meters along route # Maximum depth: 1472.126615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.483111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728629; longitude = -122.123402; duration = 202; initialDepth = 1419.154290; finalDepth = 1418.483111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6435039999999 # Actual altitude: 53.6435039999999 # Commanded vehicle depth: 1418.483111 # Seafloor depth: -1472.126615 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.46; 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 101 # Segment length 101.089871 meters # Minimum depth: 1469.154290 meters looking forward 100.000000 meters along route # Maximum depth: 1472.085853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.154290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729079; longitude = -122.122418; duration = 202; initialDepth = 1423.304790; finalDepth = 1419.154290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6435039999999 # Actual altitude: 53.6435039999999 # Commanded vehicle depth: 1419.15429 # Seafloor depth: -1469.154290 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.46; 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 101 # Segment length 101.089443 meters # Minimum depth: 1473.304790 meters looking forward 100.000000 meters along route # Maximum depth: 1475.498365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.304790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729530; longitude = -122.121434; duration = 202; initialDepth = 1425.569528; finalDepth = 1423.304790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1423.30479 # Seafloor depth: -1473.304790 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.089017 meters # Minimum depth: 1475.569528 meters looking forward 100.000000 meters along route # Maximum depth: 1476.020427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.569528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729981; longitude = -122.120450; duration = 202; initialDepth = 1425.914432; finalDepth = 1425.569528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1425.569528 # Seafloor depth: -1475.569528 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 101.088589 meters # Minimum depth: 1475.914432 meters looking forward 100.000000 meters along route # Maximum depth: 1476.550067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.914432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730431; longitude = -122.119466; duration = 202; initialDepth = 1426.554346; finalDepth = 1425.914432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1425.914432 # Seafloor depth: -1475.914432 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 101 # Segment length 105.643370 meters # Minimum depth: 1476.554346 meters looking forward 100.000000 meters along route # Maximum depth: 1476.777139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1426.554346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730882; longitude = -122.118482; duration = 211; initialDepth = 1426.574549; finalDepth = 1426.554346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0205290000001 # Actual altitude: 50.0205290000001 # Commanded vehicle depth: 1426.554346 # Seafloor depth: -1476.574875 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; 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 101 # Segment length 114.346795 meters # Minimum depth: 1476.574549 meters looking forward 100.000000 meters along route # Maximum depth: 1477.093612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1426.574549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731353; longitude = -122.117454; duration = 228; initialDepth = 1425.980231; finalDepth = 1426.574549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0205290000001 # Actual altitude: 50.0205290000001 # Commanded vehicle depth: 1426.574549 # Seafloor depth: -1476.574549 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; 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 101 # Segment length 114.346249 meters # Minimum depth: 1475.980231 meters looking forward 100.000000 meters along route # Maximum depth: 1476.820269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.980231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731863; longitude = -122.116341; duration = 228; initialDepth = 1421.071290; finalDepth = 1425.980231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.840038 # Actual altitude: 50.840038 # Commanded vehicle depth: 1425.980231 # Seafloor depth: -1476.820269 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; 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 101 # Segment length 119.457333 meters # Minimum depth: 1471.071290 meters looking forward 100.000000 meters along route # Maximum depth: 1475.258476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.071290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732372; longitude = -122.115228; duration = 238; initialDepth = 1412.723434; finalDepth = 1421.071290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.1871859999999 # Actual altitude: 54.1871859999999 # Commanded vehicle depth: 1421.07129 # Seafloor depth: -1475.258476 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.67; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 139.435301 meters # Minimum depth: 1462.723434 meters looking forward 100.000000 meters along route # Maximum depth: 1472.111450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.723434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732905; longitude = -122.114065; duration = 278; # abortOnTimeout = True; initialDepth = 1406.273319; finalDepth = 1412.723434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3880160000001 # Actual altitude: 59.3880160000001 # Commanded vehicle depth: 1412.723434 # Seafloor depth: -1472.111450 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.76; 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 100 # Segment length 111.064725 meters # Minimum depth: 1456.273319 meters looking forward 100.000000 meters along route # Maximum depth: 1461.062839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.273319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734037; longitude = -122.113385; duration = 222; initialDepth = 1401.421497; finalDepth = 1406.273319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3880160000001 # Actual altitude: 59.3880160000001 # Commanded vehicle depth: 1406.273319 # Seafloor depth: -1461.062839 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.76; 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 100 # Segment length 111.064503 meters # Minimum depth: 1451.421497 meters looking forward 100.000000 meters along route # Maximum depth: 1454.926045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.421497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734938; longitude = -122.112844; duration = 222; initialDepth = 1399.691712; finalDepth = 1401.421497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.78952 # Actual altitude: 54.78952 # Commanded vehicle depth: 1401.421497 # Seafloor depth: -1454.926045 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.92; 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 100 # Segment length 111.064281 meters # Minimum depth: 1449.691712 meters looking forward 100.000000 meters along route # Maximum depth: 1451.234961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.691712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735839; longitude = -122.112302; duration = 222; initialDepth = 1396.517083; finalDepth = 1399.691712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5045479999999 # Actual altitude: 53.5045479999999 # Commanded vehicle depth: 1399.691712 # Seafloor depth: -1451.234961 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; 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 100 # Segment length 111.064060 meters # Minimum depth: 1446.517083 meters looking forward 100.000000 meters along route # Maximum depth: 1449.027114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.517083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736741; longitude = -122.111761; duration = 222; initialDepth = 1396.089517; finalDepth = 1396.517083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.510031 # Actual altitude: 52.510031 # Commanded vehicle depth: 1396.517083 # Seafloor depth: -1449.027114 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.00; 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 100 # Segment length 111.063837 meters # Minimum depth: 1446.089517 meters looking forward 100.000000 meters along route # Maximum depth: 1446.371459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.089517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737642; longitude = -122.111219; duration = 222; initialDepth = 1395.465867; finalDepth = 1396.089517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.510031 # Actual altitude: 52.510031 # Commanded vehicle depth: 1396.089517 # Seafloor depth: -1446.157639 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.00; 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 100 # Segment length 111.063614 meters # Minimum depth: 1445.465867 meters looking forward 100.000000 meters along route # Maximum depth: 1448.286909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.465867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738543; longitude = -122.110678; duration = 222; initialDepth = 1389.219709; finalDepth = 1395.465867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1088730000001 # Actual altitude: 50.1088730000001 # Commanded vehicle depth: 1395.465867 # Seafloor depth: -1445.574740 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.04; 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 100 # Segment length 111.063393 meters # Minimum depth: 1439.219709 meters looking forward 100.000000 meters along route # Maximum depth: 1448.671462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.219709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739444; longitude = -122.110136; duration = 222; initialDepth = 1381.210932; finalDepth = 1389.219709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4517530000001 # Actual altitude: 59.4517530000001 # Commanded vehicle depth: 1389.219709 # Seafloor depth: -1448.671462 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.78; 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 100 # Segment length 111.063171 meters # Minimum depth: 1431.210932 meters looking forward 100.000000 meters along route # Maximum depth: 1437.301397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.210932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740346; longitude = -122.109595; duration = 222; initialDepth = 1380.471991; finalDepth = 1381.210932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4517530000001 # Actual altitude: 59.4517530000001 # Commanded vehicle depth: 1381.210932 # Seafloor depth: -1437.301397 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.78; 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 100 # Segment length 111.062949 meters # Minimum depth: 1430.471991 meters looking forward 100.000000 meters along route # Maximum depth: 1430.810769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.471991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741247; longitude = -122.109054; duration = 222; initialDepth = 1376.512713; finalDepth = 1380.471991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.090465 # Actual altitude: 56.090465 # Commanded vehicle depth: 1380.471991 # Seafloor depth: -1430.810769 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.44; 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 100 # Segment length 111.062726 meters # Minimum depth: 1426.512713 meters looking forward 100.000000 meters along route # Maximum depth: 1430.267002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.512713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742148; longitude = -122.108512; duration = 222; initialDepth = 1373.936931; finalDepth = 1376.512713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.754289 # Actual altitude: 53.754289 # Commanded vehicle depth: 1376.512713 # Seafloor depth: -1430.267002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.50; 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 100 # Segment length 111.062505 meters # Minimum depth: 1423.936931 meters looking forward 100.000000 meters along route # Maximum depth: 1426.409352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.936931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743050; longitude = -122.107971; duration = 222; initialDepth = 1372.922100; finalDepth = 1373.936931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.754289 # Actual altitude: 53.754289 # Commanded vehicle depth: 1373.936931 # Seafloor depth: -1426.409352 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.50; 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 100 # Segment length 112.565355 meters # Minimum depth: 1422.922100 meters looking forward 100.000000 meters along route # Maximum depth: 1423.888166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.922100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743951; longitude = -122.107429; duration = 225; initialDepth = 1373.062039; finalDepth = 1372.922100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4724209999999 # Actual altitude: 52.4724209999999 # Commanded vehicle depth: 1372.9221 # Seafloor depth: -1423.888166 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.99; 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 100 # Segment length 114.144977 meters # Minimum depth: 1423.062039 meters looking forward 100.000000 meters along route # Maximum depth: 1424.370199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.062039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744865; longitude = -122.106880; duration = 228; initialDepth = 1371.897751; finalDepth = 1373.062039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.966066 # Actual altitude: 50.966066 # Commanded vehicle depth: 1373.062039 # Seafloor depth: -1423.062039 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; 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 100 # Segment length 114.144742 meters # Minimum depth: 1421.897751 meters looking forward 100.000000 meters along route # Maximum depth: 1425.574933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.897751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745791; longitude = -122.106324; duration = 228; initialDepth = 1359.241149; finalDepth = 1371.897751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3753830000001 # Actual altitude: 52.3753830000001 # Commanded vehicle depth: 1371.897751 # Seafloor depth: -1424.273134 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.95; 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 100 # Segment length 114.144508 meters # Minimum depth: 1409.241149 meters looking forward 100.000000 meters along route # Maximum depth: 1421.354671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.241149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746717; longitude = -122.105767; duration = 228; initialDepth = 1349.242727; finalDepth = 1359.241149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1135220000001 # Actual altitude: 62.1135220000001 # Commanded vehicle depth: 1359.241149 # Seafloor depth: -1421.354671 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.85; 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 100 # Segment length 100.309610 meters # Minimum depth: 1399.242727 meters looking forward 100.000000 meters along route # Maximum depth: 1407.814749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.242727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747644; longitude = -122.105211; duration = 200; initialDepth = 1334.157295; finalDepth = 1349.242727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1135220000001 # Actual altitude: 62.1135220000001 # Commanded vehicle depth: 1349.242727 # Seafloor depth: -1407.814749 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.85; 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 100 # Segment length 111.061173 meters # Minimum depth: 1384.157295 meters looking forward 100.000000 meters along route # Maximum depth: 1395.101396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.157295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748458; longitude = -122.104722; duration = 222; initialDepth = 1319.789660; finalDepth = 1334.157295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.944101 # Actual altitude: 60.944101 # Commanded vehicle depth: 1334.157295 # Seafloor depth: -1395.101396 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.38; 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 100 # Segment length 111.060950 meters # Minimum depth: 1369.789660 meters looking forward 100.000000 meters along route # Maximum depth: 1381.126098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.789660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749359; longitude = -122.104180; duration = 222; initialDepth = 1302.347022; finalDepth = 1319.789660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.336438 # Actual altitude: 61.336438 # Commanded vehicle depth: 1319.78966 # Seafloor depth: -1381.126098 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.53; 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 100 # Segment length 111.060728 meters # Minimum depth: 1352.347022 meters looking forward 100.000000 meters along route # Maximum depth: 1366.345502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.347022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750260; longitude = -122.103639; duration = 222; initialDepth = 1278.839325; finalDepth = 1302.347022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.99848 # Actual altitude: 63.99848 # Commanded vehicle depth: 1302.347022 # Seafloor depth: -1366.345502 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.60; 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 100 # Segment length 111.060507 meters # Minimum depth: 1328.839325 meters looking forward 100.000000 meters along route # Maximum depth: 1346.971295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.839325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751162; longitude = -122.103097; duration = 222; initialDepth = 1263.668396; finalDepth = 1278.839325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1319700000001 # Actual altitude: 68.1319700000001 # Commanded vehicle depth: 1278.839325 # Seafloor depth: -1346.971295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.25; 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 100 # Segment length 111.060284 meters # Minimum depth: 1313.668396 meters looking forward 100.000000 meters along route # Maximum depth: 1325.116137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.668396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752063; longitude = -122.102556; duration = 222; initialDepth = 1249.194455; finalDepth = 1263.668396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1319700000001 # Actual altitude: 68.1319700000001 # Commanded vehicle depth: 1263.668396 # Seafloor depth: -1325.116137 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.25; 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 100 # Segment length 111.060062 meters # Minimum depth: 1299.194455 meters looking forward 100.000000 meters along route # Maximum depth: 1310.394604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.194455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752964; longitude = -122.102015; duration = 222; initialDepth = 1232.245953; finalDepth = 1249.194455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.447741 # Actual altitude: 61.447741 # Commanded vehicle depth: 1249.194455 # Seafloor depth: -1310.394604 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.58; 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 100 # Segment length 111.059840 meters # Minimum depth: 1282.245953 meters looking forward 100.000000 meters along route # Maximum depth: 1295.096637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.245953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753866; longitude = -122.101473; duration = 222; initialDepth = 1218.316206; finalDepth = 1232.245953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.850684 # Actual altitude: 62.850684 # Commanded vehicle depth: 1232.245953 # Seafloor depth: -1295.096637 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 100 # Segment length 111.059619 meters # Minimum depth: 1268.316206 meters looking forward 100.000000 meters along route # Maximum depth: 1278.380796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.316206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754767; longitude = -122.100932; duration = 222; initialDepth = 1214.079859; finalDepth = 1218.316206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.850684 # Actual altitude: 62.850684 # Commanded vehicle depth: 1218.316206 # Seafloor depth: -1278.380796 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 100 # Segment length 111.059396 meters # Minimum depth: 1264.079859 meters looking forward 100.000000 meters along route # Maximum depth: 1267.999538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.079859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755668; longitude = -122.100390; duration = 222; initialDepth = 1211.490015; finalDepth = 1214.079859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.06459 # Actual altitude: 60.06459 # Commanded vehicle depth: 1214.079859 # Seafloor depth: -1267.999538 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.03; 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 100 # Segment length 111.059174 meters # Minimum depth: 1261.490015 meters looking forward 100.000000 meters along route # Maximum depth: 1263.654221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.490015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756569; longitude = -122.099849; duration = 222; initialDepth = 1211.225069; finalDepth = 1211.490015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9196790000001 # Actual altitude: 53.9196790000001 # Commanded vehicle depth: 1211.490015 # Seafloor depth: -1263.654221 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; 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 100 # Segment length 111.058952 meters # Minimum depth: 1261.225069 meters looking forward 100.000000 meters along route # Maximum depth: 1262.047871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.225069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757471; longitude = -122.099307; duration = 222; initialDepth = 1211.180875; finalDepth = 1211.225069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1642059999999 # Actual altitude: 52.1642059999999 # Commanded vehicle depth: 1211.225069 # Seafloor depth: -1261.683083 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.87; 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 100 # Segment length 111.058730 meters # Minimum depth: 1261.180875 meters looking forward 100.000000 meters along route # Maximum depth: 1264.607776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.180875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758372; longitude = -122.098766; duration = 222; initialDepth = 1197.727864; finalDepth = 1211.180875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4580139999998 # Actual altitude: 50.4580139999998 # Commanded vehicle depth: 1211.180875 # Seafloor depth: -1261.180875 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; 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 100 # Segment length 111.058509 meters # Minimum depth: 1247.727864 meters looking forward 100.000000 meters along route # Maximum depth: 1264.746294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.727864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759273; longitude = -122.098224; duration = 222; initialDepth = 1177.010103; finalDepth = 1197.727864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0184300000001 # Actual altitude: 67.0184300000001 # Commanded vehicle depth: 1197.727864 # Seafloor depth: -1264.746294 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.81; 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 100 # Segment length 111.058286 meters # Minimum depth: 1227.010103 meters looking forward 100.000000 meters along route # Maximum depth: 1247.081680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.010103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760175; longitude = -122.097683; duration = 222; initialDepth = 1168.885657; finalDepth = 1177.010103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0715769999999 # Actual altitude: 70.0715769999999 # Commanded vehicle depth: 1177.010103 # Seafloor depth: -1247.081680 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.03; 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 100 # Segment length 114.064062 meters # Minimum depth: 1218.885657 meters looking forward 100.000000 meters along route # Maximum depth: 1226.998750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.885657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761076; longitude = -122.097141; duration = 228; initialDepth = 1160.185070; finalDepth = 1168.885657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0715769999999 # Actual altitude: 70.0715769999999 # Commanded vehicle depth: 1168.885657 # Seafloor depth: -1226.998750 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.03; 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 100 # Segment length 114.140639 meters # Minimum depth: 1210.185070 meters looking forward 100.000000 meters along route # Maximum depth: 1218.781325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.185070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762002; longitude = -122.096585; duration = 228; initialDepth = 1139.690440; finalDepth = 1160.185070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5962549999999 # Actual altitude: 58.5962549999999 # Commanded vehicle depth: 1160.18507 # Seafloor depth: -1218.781325 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.44; 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 100 # Segment length 114.140403 meters # Minimum depth: 1189.690440 meters looking forward 100.000000 meters along route # Maximum depth: 1209.217510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.690440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762928; longitude = -122.096029; duration = 228; initialDepth = 1113.437733; finalDepth = 1139.690440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5270699999999 # Actual altitude: 69.5270699999999 # Commanded vehicle depth: 1139.69044 # Seafloor depth: -1209.217510 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.81; 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 100 # Segment length 114.140170 meters # Minimum depth: 1163.437733 meters looking forward 100.000000 meters along route # Maximum depth: 1187.968619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.437733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763854; longitude = -122.095472; duration = 228; initialDepth = 1090.558655; finalDepth = 1113.437733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.530886 # Actual altitude: 74.530886 # Commanded vehicle depth: 1113.437733 # Seafloor depth: -1187.968619 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.81; 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 100 # Segment length 115.232442 meters # Minimum depth: 1140.558655 meters looking forward 100.000000 meters along route # Maximum depth: 1160.535075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.558655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764781; longitude = -122.094916; duration = 230; initialDepth = 1090.369873; finalDepth = 1090.558655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 74.530886 # Actual altitude: 74.530886 # Commanded vehicle depth: 1090.558655 # Seafloor depth: -1160.535075 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.81; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 155.004257 meters # Minimum depth: 1140.369873 meters looking forward 100.000000 meters along route # Maximum depth: 1150.198840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.369873 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765716; longitude = -122.094354; duration = 310; # abortOnTimeout = True; initialDepth = 1100.198840; finalDepth = 1090.369873; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 69.97642 # Actual altitude: 69.97642 # Commanded vehicle depth: 1090.369873 # Seafloor depth: -1140.369873 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.99; 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 98 # Segment length 85.126954 meters # Minimum depth: 1150.198840 meters looking forward 100.000000 meters along route # Maximum depth: 1161.901082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.198840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765055; longitude = -122.092824; duration = 170; # abortOnTimeout = True; initialDepth = 1114.212231; finalDepth = 1100.198840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.471753 # Actual altitude: 52.471753 # Commanded vehicle depth: 1100.19884 # Seafloor depth: -1152.670593 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.99; 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 98 # Segment length 100.507531 meters # Minimum depth: 1164.212231 meters looking forward 100.000000 meters along route # Maximum depth: 1181.982752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.212231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764367; longitude = -122.093246; duration = 201; initialDepth = 1139.401085; finalDepth = 1114.212231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.471753 # Actual altitude: 52.471753 # Commanded vehicle depth: 1114.212231 # Seafloor depth: -1164.212231 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.99; 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 98 # Segment length 111.521453 meters # Minimum depth: 1189.401085 meters looking forward 100.000000 meters along route # Maximum depth: 1204.352078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.401085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763555; longitude = -122.093745; duration = 223; initialDepth = 1158.325295; finalDepth = 1139.401085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1139.401085 # Seafloor depth: -1189.401085 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.521684 meters # Minimum depth: 1208.325295 meters looking forward 100.000000 meters along route # Maximum depth: 1229.940925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.325295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762653; longitude = -122.094298; duration = 223; initialDepth = 1183.914441; finalDepth = 1158.325295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1158.325295 # Seafloor depth: -1208.325295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.521916 meters # Minimum depth: 1233.914441 meters looking forward 100.000000 meters along route # Maximum depth: 1242.423041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.914441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761752; longitude = -122.094852; duration = 223; initialDepth = 1195.583436; finalDepth = 1183.914441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1183.914441 # Seafloor depth: -1233.914441 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.522147 meters # Minimum depth: 1245.583436 meters looking forward 100.000000 meters along route # Maximum depth: 1257.984177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.583436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760851; longitude = -122.095405; duration = 223; initialDepth = 1213.828312; finalDepth = 1195.583436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1195.583436 # Seafloor depth: -1245.583436 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.522379 meters # Minimum depth: 1263.828312 meters looking forward 100.000000 meters along route # Maximum depth: 1276.831607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.828312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759949; longitude = -122.095958; duration = 223; initialDepth = 1226.294360; finalDepth = 1213.828312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1213.828312 # Seafloor depth: -1263.828312 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.522611 meters # Minimum depth: 1276.294360 meters looking forward 100.000000 meters along route # Maximum depth: 1277.577012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.294360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759048; longitude = -122.096511; duration = 223; initialDepth = 1223.915018; finalDepth = 1226.294360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0687759999998 # Actual altitude: 51.0687759999998 # Commanded vehicle depth: 1226.29436 # Seafloor depth: -1277.363136 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.43; 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 98 # Segment length 111.522842 meters # Minimum depth: 1273.915018 meters looking forward 100.000000 meters along route # Maximum depth: 1276.192104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.915018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758147; longitude = -122.097065; duration = 223; initialDepth = 1224.054450; finalDepth = 1223.915018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2770860000001 # Actual altitude: 52.2770860000001 # Commanded vehicle depth: 1223.915018 # Seafloor depth: -1276.192104 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.91; 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 98 # Segment length 111.523074 meters # Minimum depth: 1274.054450 meters looking forward 100.000000 meters along route # Maximum depth: 1276.166867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.054450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757245; longitude = -122.097618; duration = 223; initialDepth = 1226.391280; finalDepth = 1224.054450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2770860000001 # Actual altitude: 52.2770860000001 # Commanded vehicle depth: 1224.05445 # Seafloor depth: -1274.054450 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.91; 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 98 # Segment length 111.523305 meters # Minimum depth: 1276.391280 meters looking forward 100.000000 meters along route # Maximum depth: 1277.322411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.391280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756344; longitude = -122.098171; duration = 223; initialDepth = 1227.594211; finalDepth = 1226.391280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1226.39128 # Seafloor depth: -1276.391280 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.523537 meters # Minimum depth: 1277.594211 meters looking forward 100.000000 meters along route # Maximum depth: 1282.636317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.594211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755443; longitude = -122.098725; duration = 223; initialDepth = 1237.318456; finalDepth = 1227.594211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1227.594211 # Seafloor depth: -1277.594211 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.523768 meters # Minimum depth: 1287.318456 meters looking forward 100.000000 meters along route # Maximum depth: 1297.712898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.318456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754542; longitude = -122.099278; duration = 223; initialDepth = 1253.010082; finalDepth = 1237.318456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1237.318456 # Seafloor depth: -1287.318456 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.524000 meters # Minimum depth: 1303.010082 meters looking forward 100.000000 meters along route # Maximum depth: 1315.421747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.010082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753640; longitude = -122.099831; duration = 223; initialDepth = 1268.793708; finalDepth = 1253.010082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1253.010082 # Seafloor depth: -1303.010082 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.524232 meters # Minimum depth: 1318.793708 meters looking forward 100.000000 meters along route # Maximum depth: 1330.053612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1268.793708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752739; longitude = -122.100385; duration = 223; initialDepth = 1282.436173; finalDepth = 1268.793708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1268.793708 # Seafloor depth: -1318.793708 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.524463 meters # Minimum depth: 1332.436173 meters looking forward 100.000000 meters along route # Maximum depth: 1349.526142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.436173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751838; longitude = -122.100938; duration = 223; initialDepth = 1304.371311; finalDepth = 1282.436173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1282.436173 # Seafloor depth: -1332.436173 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.524695 meters # Minimum depth: 1354.371311 meters looking forward 100.000000 meters along route # Maximum depth: 1371.644976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.371311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750936; longitude = -122.101491; duration = 223; initialDepth = 1323.796383; finalDepth = 1304.371311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1304.371311 # Seafloor depth: -1354.371311 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.524926 meters # Minimum depth: 1373.796383 meters looking forward 100.000000 meters along route # Maximum depth: 1385.241185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.796383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750035; longitude = -122.102044; duration = 223; initialDepth = 1340.613151; finalDepth = 1323.796383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1323.796383 # Seafloor depth: -1373.796383 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.525158 meters # Minimum depth: 1390.613151 meters looking forward 100.000000 meters along route # Maximum depth: 1403.963155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1340.613151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749134; longitude = -122.102598; duration = 223; initialDepth = 1358.538812; finalDepth = 1340.613151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1340.613151 # Seafloor depth: -1390.613151 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.525389 meters # Minimum depth: 1408.538812 meters looking forward 100.000000 meters along route # Maximum depth: 1422.104467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.538812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748232; longitude = -122.103151; duration = 223; initialDepth = 1374.900377; finalDepth = 1358.538812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1358.538812 # Seafloor depth: -1408.538812 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.525621 meters # Minimum depth: 1424.900377 meters looking forward 100.000000 meters along route # Maximum depth: 1430.666684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.900377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747331; longitude = -122.103704; duration = 223; initialDepth = 1381.154919; finalDepth = 1374.900377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1374.900377 # Seafloor depth: -1424.900377 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.525853 meters # Minimum depth: 1431.154919 meters looking forward 100.000000 meters along route # Maximum depth: 1431.885449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.154919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746430; longitude = -122.104258; duration = 223; initialDepth = 1382.395412; finalDepth = 1381.154919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1381.154919 # Seafloor depth: -1431.154919 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.526085 meters # Minimum depth: 1432.395412 meters looking forward 100.000000 meters along route # Maximum depth: 1434.371577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.395412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745528; longitude = -122.104811; duration = 223; initialDepth = 1384.033455; finalDepth = 1382.395412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.395412 # Seafloor depth: -1432.395412 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.526316 meters # Minimum depth: 1434.033455 meters looking forward 100.000000 meters along route # Maximum depth: 1435.475498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.033455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744627; longitude = -122.105364; duration = 223; initialDepth = 1382.120151; finalDepth = 1384.033455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.442043 # Actual altitude: 51.442043 # Commanded vehicle depth: 1384.033455 # Seafloor depth: -1435.475498 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.58; 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 98 # Segment length 111.526547 meters # Minimum depth: 1432.120151 meters looking forward 100.000000 meters along route # Maximum depth: 1432.824346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.120151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743726; longitude = -122.105917; duration = 223; initialDepth = 1383.270664; finalDepth = 1382.120151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.442043 # Actual altitude: 51.442043 # Commanded vehicle depth: 1382.120151 # Seafloor depth: -1432.824346 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.58; 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 98 # Segment length 111.526779 meters # Minimum depth: 1433.270664 meters looking forward 100.000000 meters along route # Maximum depth: 1435.290918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.270664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742824; longitude = -122.106471; duration = 223; initialDepth = 1385.726196; finalDepth = 1383.270664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.704195 # Actual altitude: 50.704195 # Commanded vehicle depth: 1383.270664 # Seafloor depth: -1433.270664 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.28; 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 98 # Segment length 111.527011 meters # Minimum depth: 1435.726196 meters looking forward 100.000000 meters along route # Maximum depth: 1437.157520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.726196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741923; longitude = -122.107024; duration = 223; initialDepth = 1387.532592; finalDepth = 1385.726196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1385.726196 # Seafloor depth: -1435.726196 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.527243 meters # Minimum depth: 1437.532592 meters looking forward 100.000000 meters along route # Maximum depth: 1440.633533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.532592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741022; longitude = -122.107577; duration = 223; initialDepth = 1392.668273; finalDepth = 1387.532592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1387.532592 # Seafloor depth: -1437.532592 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.527474 meters # Minimum depth: 1442.668273 meters looking forward 100.000000 meters along route # Maximum depth: 1447.097757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.668273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740120; longitude = -122.108131; duration = 223; initialDepth = 1397.698189; finalDepth = 1392.668273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1392.668273 # Seafloor depth: -1442.668273 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.527705 meters # Minimum depth: 1447.698189 meters looking forward 100.000000 meters along route # Maximum depth: 1448.406603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.698189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739219; longitude = -122.108684; duration = 223; initialDepth = 1396.928093; finalDepth = 1397.698189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.461438 # Actual altitude: 50.461438 # Commanded vehicle depth: 1397.698189 # Seafloor depth: -1448.159627 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; 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 98 # Segment length 111.527938 meters # Minimum depth: 1446.928093 meters looking forward 100.000000 meters along route # Maximum depth: 1447.482330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.928093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738318; longitude = -122.109237; duration = 223; initialDepth = 1397.972068; finalDepth = 1396.928093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5542370000001 # Actual altitude: 50.5542370000001 # Commanded vehicle depth: 1396.928093 # Seafloor depth: -1447.482330 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.22; 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 98 # Segment length 111.528169 meters # Minimum depth: 1447.972068 meters looking forward 100.000000 meters along route # Maximum depth: 1449.092785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.972068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737416; longitude = -122.109791; duration = 223; initialDepth = 1399.700157; finalDepth = 1397.972068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5542370000001 # Actual altitude: 50.5542370000001 # Commanded vehicle depth: 1397.972068 # Seafloor depth: -1447.972068 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.22; 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 98 # Segment length 111.528400 meters # Minimum depth: 1449.700157 meters looking forward 100.000000 meters along route # Maximum depth: 1453.331753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.700157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736515; longitude = -122.110344; duration = 223; initialDepth = 1404.340906; finalDepth = 1399.700157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1399.700157 # Seafloor depth: -1449.700157 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.528633 meters # Minimum depth: 1454.340906 meters looking forward 100.000000 meters along route # Maximum depth: 1455.827646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.340906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735614; longitude = -122.110897; duration = 223; initialDepth = 1406.577211; finalDepth = 1404.340906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1404.340906 # Seafloor depth: -1454.340906 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.528864 meters # Minimum depth: 1456.577211 meters looking forward 100.000000 meters along route # Maximum depth: 1461.092760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.577211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734713; longitude = -122.111450; duration = 223; initialDepth = 1412.234952; finalDepth = 1406.577211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1406.577211 # Seafloor depth: -1456.577211 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 111.529095 meters # Minimum depth: 1462.234952 meters looking forward 100.000000 meters along route # Maximum depth: 1469.696495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.234952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733811; longitude = -122.112004; duration = 223; initialDepth = 1421.605790; finalDepth = 1412.234952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1412.234952 # Seafloor depth: -1462.234952 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 98 # Segment length 123.357035 meters # Minimum depth: 1471.605790 meters looking forward 100.000000 meters along route # Maximum depth: 1481.401146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.605790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732910; longitude = -122.112557; duration = 246; initialDepth = 1432.740051; finalDepth = 1421.605790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1421.60579 # Seafloor depth: -1471.605790 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 127.553948 meters # Minimum depth: 1482.740051 meters looking forward 100.000000 meters along route # Maximum depth: 1488.400468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.740051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731913; longitude = -122.113169; duration = 255; # abortOnTimeout = True; initialDepth = 1438.449589; finalDepth = 1432.740051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1432.740051 # Seafloor depth: -1482.740051 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 97 # Segment length 114.186639 meters # Minimum depth: 1488.449589 meters looking forward 100.000000 meters along route # Maximum depth: 1493.148980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.449589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731333; longitude = -122.114402; duration = 228; initialDepth = 1443.393448; finalDepth = 1438.449589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1438.449589 # Seafloor depth: -1488.449589 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 97 # Segment length 115.129246 meters # Minimum depth: 1493.393448 meters looking forward 100.000000 meters along route # Maximum depth: 1494.551769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.393448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730813; longitude = -122.115506; duration = 230; initialDepth = 1444.985489; finalDepth = 1443.393448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1443.393448 # Seafloor depth: -1493.393448 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 97 # Segment length 115.129803 meters # Minimum depth: 1494.985489 meters looking forward 100.000000 meters along route # Maximum depth: 1496.181704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.985489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730289; longitude = -122.116619; duration = 230; initialDepth = 1446.525247; finalDepth = 1444.985489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1444.985489 # Seafloor depth: -1494.985489 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 97 # Segment length 101.240902 meters # Minimum depth: 1496.525247 meters looking forward 100.000000 meters along route # Maximum depth: 1497.071836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.525247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729765; longitude = -122.117732; duration = 202; initialDepth = 1447.568131; finalDepth = 1446.525247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.027531 # Actual altitude: 50.027531 # Commanded vehicle depth: 1446.525247 # Seafloor depth: -1496.552778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; 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 97 # Segment length 100.237597 meters # Minimum depth: 1497.568131 meters looking forward 100.000000 meters along route # Maximum depth: 1499.029608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.568131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729305; longitude = -122.118711; duration = 200; initialDepth = 1446.135183; finalDepth = 1447.568131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.027531 # Actual altitude: 50.027531 # Commanded vehicle depth: 1447.568131 # Seafloor depth: -1497.568131 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; 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 97 # Segment length 115.131338 meters # Minimum depth: 1496.135183 meters looking forward 100.000000 meters along route # Maximum depth: 1498.463540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.135183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728849; longitude = -122.119680; duration = 230; initialDepth = 1441.357102; finalDepth = 1446.135183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3283569999999 # Actual altitude: 52.3283569999999 # Commanded vehicle depth: 1446.135183 # Seafloor depth: -1498.463540 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; 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 97 # Segment length 115.131897 meters # Minimum depth: 1491.357102 meters looking forward 100.000000 meters along route # Maximum depth: 1495.539033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.357102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728325; longitude = -122.120793; duration = 230; initialDepth = 1434.624726; finalDepth = 1441.357102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1819310000001 # Actual altitude: 54.1819310000001 # Commanded vehicle depth: 1441.357102 # Seafloor depth: -1495.539033 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.67; 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 97 # Segment length 115.194122 meters # Minimum depth: 1484.624726 meters looking forward 100.000000 meters along route # Maximum depth: 1489.270404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.624726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727801; longitude = -122.121906; duration = 230; initialDepth = 1439.275503; finalDepth = 1434.624726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1819310000001 # Actual altitude: 54.1819310000001 # Commanded vehicle depth: 1434.624726 # Seafloor depth: -1488.384497 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.67; 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 97 # Segment length 115.071345 meters # Minimum depth: 1489.275503 meters looking forward 100.000000 meters along route # Maximum depth: 1494.635143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.275503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727277; longitude = -122.123019; duration = 230; initialDepth = 1445.284065; finalDepth = 1439.275503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.759771 # Actual altitude: 53.759771 # Commanded vehicle depth: 1439.275503 # Seafloor depth: -1489.275503 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.50; 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 97 # Segment length 115.133572 meters # Minimum depth: 1495.284065 meters looking forward 100.000000 meters along route # Maximum depth: 1500.487703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.284065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726753; longitude = -122.124132; duration = 230; initialDepth = 1449.541313; finalDepth = 1445.284065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1445.284065 # Seafloor depth: -1495.284065 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 97 # Segment length 116.452498 meters # Minimum depth: 1499.541313 meters looking forward 100.000000 meters along route # Maximum depth: 1503.260151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.541313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726229; longitude = -122.125245; duration = 232; initialDepth = 1449.512067; finalDepth = 1449.541313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0934160000002 # Actual altitude: 51.0934160000002 # Commanded vehicle depth: 1449.541313 # Seafloor depth: -1500.634729 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.44; 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 97 # Segment length 113.816319 meters # Minimum depth: 1499.512067 meters looking forward 100.000000 meters along route # Maximum depth: 1509.865947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.512067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725699; longitude = -122.126370; duration = 227; initialDepth = 1457.739108; finalDepth = 1449.512067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0934160000002 # Actual altitude: 51.0934160000002 # Commanded vehicle depth: 1449.512067 # Seafloor depth: -1499.512067 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.44; 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 97 # Segment length 115.135246 meters # Minimum depth: 1507.739108 meters looking forward 100.000000 meters along route # Maximum depth: 1510.612680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.739108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725181; longitude = -122.127471; duration = 230; initialDepth = 1442.705378; finalDepth = 1457.739108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.873572 # Actual altitude: 52.873572 # Commanded vehicle depth: 1457.739108 # Seafloor depth: -1510.612680 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.15; 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 97 # Segment length 117.710911 meters # Minimum depth: 1492.705378 meters looking forward 100.000000 meters along route # Maximum depth: 1506.421584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.705378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724658; longitude = -122.128584; duration = 235; initialDepth = 1429.593243; finalDepth = 1442.705378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7162059999998 # Actual altitude: 63.7162059999998 # Commanded vehicle depth: 1442.705378 # Seafloor depth: -1506.421584 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.49; 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 97 # Segment length 112.561256 meters # Minimum depth: 1479.593243 meters looking forward 100.000000 meters along route # Maximum depth: 1492.550575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.593243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724122; longitude = -122.129721; duration = 225; initialDepth = 1410.782045; finalDepth = 1429.593243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7162059999998 # Actual altitude: 63.7162059999998 # Commanded vehicle depth: 1429.593243 # Seafloor depth: -1492.550575 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.49; 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 97 # Segment length 115.136921 meters # Minimum depth: 1460.782045 meters looking forward 100.000000 meters along route # Maximum depth: 1476.865756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.782045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723610; longitude = -122.130809; duration = 230; initialDepth = 1378.196990; finalDepth = 1410.782045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.083711 # Actual altitude: 66.083711 # Commanded vehicle depth: 1410.782045 # Seafloor depth: -1476.865756 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.43; 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 97 # Segment length 118.969361 meters # Minimum depth: 1428.196990 meters looking forward 100.000000 meters along route # Maximum depth: 1454.670164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.196990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723086; longitude = -122.131922; duration = 237; initialDepth = 1355.480329; finalDepth = 1378.196990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4731740000002 # Actual altitude: 76.4731740000002 # Commanded vehicle depth: 1378.19699 # Seafloor depth: -1454.670164 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.59; 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 97 # Segment length 111.306156 meters # Minimum depth: 1405.480329 meters looking forward 100.000000 meters along route # Maximum depth: 1427.089317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.480329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722545; longitude = -122.133072; duration = 222; initialDepth = 1355.443812; finalDepth = 1355.480329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4731740000002 # Actual altitude: 76.4731740000002 # Commanded vehicle depth: 1355.480329 # Seafloor depth: -1427.089317 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.59; 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 97 # Segment length 115.138596 meters # Minimum depth: 1405.443812 meters looking forward 100.000000 meters along route # Maximum depth: 1407.876702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.443812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722038; longitude = -122.134148; duration = 230; initialDepth = 1357.756433; finalDepth = 1355.443812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.608988 # Actual altitude: 71.608988 # Commanded vehicle depth: 1355.443812 # Seafloor depth: -1405.443812 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.64; 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 97 # Segment length 120.227848 meters # Minimum depth: 1407.756433 meters looking forward 100.000000 meters along route # Maximum depth: 1411.595813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.756433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721514; longitude = -122.135261; duration = 240; initialDepth = 1350.447982; finalDepth = 1357.756433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1378649999999 # Actual altitude: 51.1378649999999 # Commanded vehicle depth: 1357.756433 # Seafloor depth: -1408.894298 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.46; 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 97 # Segment length 110.051020 meters # Minimum depth: 1400.447982 meters looking forward 100.000000 meters along route # Maximum depth: 1411.480891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.447982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720967; longitude = -122.136424; duration = 220; initialDepth = 1335.050952; finalDepth = 1350.447982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.032909 # Actual altitude: 61.032909 # Commanded vehicle depth: 1350.447982 # Seafloor depth: -1411.480891 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.41; 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 97 # Segment length 115.140272 meters # Minimum depth: 1385.050952 meters looking forward 100.000000 meters along route # Maximum depth: 1397.538705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.050952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720467; longitude = -122.137487; duration = 230; initialDepth = 1303.410338; finalDepth = 1335.050952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4877529999999 # Actual altitude: 62.4877529999999 # Commanded vehicle depth: 1335.050952 # Seafloor depth: -1397.538705 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.00; 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 97 # Segment length 121.486371 meters # Minimum depth: 1353.410338 meters looking forward 100.000000 meters along route # Maximum depth: 1379.828408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.410338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719943; longitude = -122.138600; duration = 242; initialDepth = 1278.238354; finalDepth = 1303.410338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4180700000002 # Actual altitude: 76.4180700000002 # Commanded vehicle depth: 1303.410338 # Seafloor depth: -1379.828408 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.57; 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 97 # Segment length 113.004524 meters # Minimum depth: 1328.238354 meters looking forward 100.000000 meters along route # Maximum depth: 1351.966769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.238354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719390; longitude = -122.139775; duration = 226; initialDepth = 1275.054749; finalDepth = 1278.238354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.4180700000002 # Actual altitude: 76.4180700000002 # Commanded vehicle depth: 1278.238354 # Seafloor depth: -1351.966769 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.57; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 178.894014 meters # Minimum depth: 1325.054749 meters looking forward 100.000000 meters along route # Maximum depth: 1343.397683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.054749 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718876; longitude = -122.140867; duration = 357; # abortOnTimeout = True; initialDepth = 1288.524780; finalDepth = 1275.054749; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 73.728415 # Actual altitude: 73.728415 # Commanded vehicle depth: 1275.054749 # Seafloor depth: -1325.054749 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.49; 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 95 # Segment length 91.610897 meters # Minimum depth: 1338.524780 meters looking forward 100.000000 meters along route # Maximum depth: 1359.548837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1288.524780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717408; longitude = -122.140038; duration = 183; # abortOnTimeout = True; initialDepth = 1310.408951; finalDepth = 1288.524780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1288.52478 # Seafloor depth: -1338.524780 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 115.712740 meters # Minimum depth: 1360.408951 meters looking forward 100.000000 meters along route # Maximum depth: 1381.727114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.408951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717831; longitude = -122.139157; duration = 231; initialDepth = 1336.257213; finalDepth = 1310.408951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1310.408951 # Seafloor depth: -1360.408951 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 124.550580 meters # Minimum depth: 1386.257213 meters looking forward 100.000000 meters along route # Maximum depth: 1414.671570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1336.257213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718365; longitude = -122.138044; duration = 249; initialDepth = 1366.622589; finalDepth = 1336.257213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1336.257213 # Seafloor depth: -1386.257213 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 106.873202 meters # Minimum depth: 1416.622589 meters looking forward 100.000000 meters along route # Maximum depth: 1464.881498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.622589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718939; longitude = -122.136846; duration = 213; initialDepth = 1416.458381; finalDepth = 1366.622589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1366.622589 # Seafloor depth: -1416.622589 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 115.711040 meters # Minimum depth: 1470.231456 meters looking forward 100.000000 meters along route # Maximum depth: 1496.326823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.458381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719433; longitude = -122.135818; duration = 231; initialDepth = 1436.724958; finalDepth = 1416.458381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7730754242798 # Actual altitude: 53.7730754242798 # Commanded vehicle depth: 1416.45838057572 # Seafloor depth: -1470.231456 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.51; 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 95 # Segment length 115.710475 meters # Minimum depth: 1486.724958 meters looking forward 100.000000 meters along route # Maximum depth: 1495.774107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.724958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719967; longitude = -122.134705; duration = 231; initialDepth = 1412.014293; finalDepth = 1436.724958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0491489999999 # Actual altitude: 59.0491489999999 # Commanded vehicle depth: 1436.724958 # Seafloor depth: -1495.774107 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.62; 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 95 # Segment length 101.160853 meters # Minimum depth: 1462.014293 meters looking forward 100.000000 meters along route # Maximum depth: 1481.349362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.014293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720501; longitude = -122.133592; duration = 202; initialDepth = 1393.905950; finalDepth = 1412.014293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.335069 # Actual altitude: 69.335069 # Commanded vehicle depth: 1412.014293 # Seafloor depth: -1481.349362 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.73; 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 95 # Segment length 101.331114 meters # Minimum depth: 1443.905950 meters looking forward 100.000000 meters along route # Maximum depth: 1457.541949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.905950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720967; longitude = -122.132619; duration = 202; initialDepth = 1392.321708; finalDepth = 1393.905950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.335069 # Actual altitude: 69.335069 # Commanded vehicle depth: 1393.90595 # Seafloor depth: -1457.541949 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.73; 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 95 # Segment length 115.708917 meters # Minimum depth: 1442.321708 meters looking forward 100.000000 meters along route # Maximum depth: 1445.580851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.321708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721435; longitude = -122.131644; duration = 231; initialDepth = 1396.612235; finalDepth = 1392.321708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6359989999999 # Actual altitude: 63.6359989999999 # Commanded vehicle depth: 1392.321708 # Seafloor depth: -1444.197448 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.45; 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 95 # Segment length 124.753097 meters # Minimum depth: 1446.612235 meters looking forward 100.000000 meters along route # Maximum depth: 1479.342761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.612235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721969; longitude = -122.130531; duration = 249; initialDepth = 1431.438224; finalDepth = 1396.612235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.87574 # Actual altitude: 51.87574 # Commanded vehicle depth: 1396.612235 # Seafloor depth: -1446.612235 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.75; 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 95 # Segment length 106.663036 meters # Minimum depth: 1481.438224 meters looking forward 100.000000 meters along route # Maximum depth: 1505.197312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.438224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722545; longitude = -122.129331; duration = 213; initialDepth = 1457.273714; finalDepth = 1431.438224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1431.438224 # Seafloor depth: -1481.438224 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 115.707218 meters # Minimum depth: 1507.273714 meters looking forward 100.000000 meters along route # Maximum depth: 1524.956080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.273714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723037; longitude = -122.128305; duration = 231; initialDepth = 1479.487959; finalDepth = 1457.273714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1457.273714 # Seafloor depth: -1507.273714 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 115.706651 meters # Minimum depth: 1529.487959 meters looking forward 100.000000 meters along route # Maximum depth: 1538.760236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.487959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723571; longitude = -122.127192; duration = 231; initialDepth = 1489.008725; finalDepth = 1479.487959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1479.487959 # Seafloor depth: -1529.487959 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 101.364140 meters # Minimum depth: 1539.008725 meters looking forward 100.000000 meters along route # Maximum depth: 1540.643130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.008725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724105; longitude = -122.126079; duration = 202; initialDepth = 1479.001127; finalDepth = 1489.008725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.948973 # Actual altitude: 50.948973 # Commanded vehicle depth: 1489.008725 # Seafloor depth: -1539.957698 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.38; 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 95 # Segment length 101.121137 meters # Minimum depth: 1529.001127 meters looking forward 100.000000 meters along route # Maximum depth: 1538.087458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.001127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724573; longitude = -122.125104; duration = 202; initialDepth = 1461.947788; finalDepth = 1479.001127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.086331 # Actual altitude: 59.086331 # Commanded vehicle depth: 1479.001127 # Seafloor depth: -1538.087458 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.63; 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 95 # Segment length 115.705093 meters # Minimum depth: 1511.947788 meters looking forward 100.000000 meters along route # Maximum depth: 1528.570994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.947788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725039; longitude = -122.124132; duration = 231; initialDepth = 1448.550265; finalDepth = 1461.947788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.623206 # Actual altitude: 66.623206 # Commanded vehicle depth: 1461.947788 # Seafloor depth: -1528.570994 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.65; 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 95 # Segment length 124.955603 meters # Minimum depth: 1498.550265 meters looking forward 100.000000 meters along route # Maximum depth: 1507.961972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.550265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725573; longitude = -122.123019; duration = 249; initialDepth = 1448.904555; finalDepth = 1448.550265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.623206 # Actual altitude: 66.623206 # Commanded vehicle depth: 1448.550265 # Seafloor depth: -1507.961972 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.65; 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 95 # Segment length 106.452886 meters # Minimum depth: 1498.904555 meters looking forward 100.000000 meters along route # Maximum depth: 1512.171010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.904555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726150; longitude = -122.121817; duration = 212; initialDepth = 1463.461757; finalDepth = 1448.904555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.411707 # Actual altitude: 59.411707 # Commanded vehicle depth: 1448.904555 # Seafloor depth: -1498.904555 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.76; 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 95 # Segment length 115.703395 meters # Minimum depth: 1513.461757 meters looking forward 100.000000 meters along route # Maximum depth: 1521.978351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.461757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726641; longitude = -122.120793; duration = 231; initialDepth = 1472.233804; finalDepth = 1463.461757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1463.461757 # Seafloor depth: -1513.461757 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 95 # Segment length 115.702829 meters # Minimum depth: 1522.233804 meters looking forward 100.000000 meters along route # Maximum depth: 1522.398988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.233804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727175; longitude = -122.119680; duration = 231; initialDepth = 1470.670129; finalDepth = 1472.233804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.165184 # Actual altitude: 50.165184 # Commanded vehicle depth: 1472.233804 # Seafloor depth: -1522.398988 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.07; 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 95 # Segment length 101.567415 meters # Minimum depth: 1520.670129 meters looking forward 100.000000 meters along route # Maximum depth: 1522.573408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.670129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727709; longitude = -122.118567; duration = 203; initialDepth = 1469.184976; finalDepth = 1470.670129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9032789999999 # Actual altitude: 51.9032789999999 # Commanded vehicle depth: 1470.670129 # Seafloor depth: -1522.573408 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.76; 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 95 # Segment length 100.911173 meters # Minimum depth: 1519.184976 meters looking forward 100.000000 meters along route # Maximum depth: 1520.246407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.184976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728178; longitude = -122.117590; duration = 201; initialDepth = 1466.704681; finalDepth = 1469.184976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9032789999999 # Actual altitude: 51.9032789999999 # Commanded vehicle depth: 1469.184976 # Seafloor depth: -1520.246407 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.76; 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 95 # Segment length 115.701271 meters # Minimum depth: 1516.704681 meters looking forward 100.000000 meters along route # Maximum depth: 1519.490018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.704681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728644; longitude = -122.116619; duration = 231; initialDepth = 1459.412653; finalDepth = 1466.704681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785337 # Actual altitude: 52.785337 # Commanded vehicle depth: 1466.704681 # Seafloor depth: -1519.490018 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.11; 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 95 # Segment length 125.158096 meters # Minimum depth: 1509.412653 meters looking forward 100.000000 meters along route # Maximum depth: 1515.657712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.412653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729178; longitude = -122.115506; duration = 250; initialDepth = 1452.338777; finalDepth = 1459.412653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2450589999999 # Actual altitude: 56.2450589999999 # Commanded vehicle depth: 1459.412653 # Seafloor depth: -1515.657712 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.50; 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 95 # Segment length 106.242749 meters # Minimum depth: 1502.338777 meters looking forward 100.000000 meters along route # Maximum depth: 1508.880238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.338777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729755; longitude = -122.114302; duration = 212; initialDepth = 1446.788029; finalDepth = 1452.338777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.541461 # Actual altitude: 56.541461 # Commanded vehicle depth: 1452.338777 # Seafloor depth: -1508.880238 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.62; 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 95 # Segment length 100.837829 meters # Minimum depth: 1496.788029 meters looking forward 100.000000 meters along route # Maximum depth: 1501.647769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.788029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730246; longitude = -122.113280; duration = 201; initialDepth = 1439.872093; finalDepth = 1446.788029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.541461 # Actual altitude: 56.541461 # Commanded vehicle depth: 1446.788029 # Seafloor depth: -1501.647769 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.62; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 84.102514 meters # Minimum depth: 1489.872093 meters looking forward 100.000000 meters along route # Maximum depth: 1496.836983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.872093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730711; longitude = -122.112310; duration = 168; # abortOnTimeout = True; initialDepth = 1428.355615; finalDepth = 1439.872093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1126180000001 # Actual altitude: 56.1126180000001 # Commanded vehicle depth: 1439.872093 # Seafloor depth: -1495.984711 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.45; 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 94 # Segment length 111.113807 meters # Minimum depth: 1478.355615 meters looking forward 100.000000 meters along route # Maximum depth: 1489.203907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.355615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731389; longitude = -122.111889; duration = 222; initialDepth = 1418.878964; finalDepth = 1428.355615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8482920000001 # Actual altitude: 60.8482920000001 # Commanded vehicle depth: 1428.355615 # Seafloor depth: -1489.203907 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.34; 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 94 # Segment length 111.113571 meters # Minimum depth: 1468.878964 meters looking forward 100.000000 meters along route # Maximum depth: 1477.629355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.878964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732285; longitude = -122.111332; duration = 222; initialDepth = 1408.677793; finalDepth = 1418.878964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8482920000001 # Actual altitude: 60.8482920000001 # Commanded vehicle depth: 1418.878964 # Seafloor depth: -1477.629355 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.34; 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 94 # Segment length 111.113338 meters # Minimum depth: 1458.677793 meters looking forward 100.000000 meters along route # Maximum depth: 1468.261283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1408.677793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733181; longitude = -122.110776; duration = 222; initialDepth = 1403.793334; finalDepth = 1408.677793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.58349 # Actual altitude: 59.58349 # Commanded vehicle depth: 1408.677793 # Seafloor depth: -1468.261283 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.83; 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 94 # Segment length 111.113104 meters # Minimum depth: 1453.793334 meters looking forward 100.000000 meters along route # Maximum depth: 1458.475231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.793334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734077; longitude = -122.110219; duration = 222; initialDepth = 1400.187668; finalDepth = 1403.793334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.58349 # Actual altitude: 59.58349 # Commanded vehicle depth: 1403.793334 # Seafloor depth: -1458.475231 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.83; 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 94 # Segment length 111.112869 meters # Minimum depth: 1450.187668 meters looking forward 100.000000 meters along route # Maximum depth: 1453.616981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.187668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734972; longitude = -122.109663; duration = 222; initialDepth = 1397.578332; finalDepth = 1400.187668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6818969999999 # Actual altitude: 54.6818969999999 # Commanded vehicle depth: 1400.187668 # Seafloor depth: -1453.616981 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.87; 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 94 # Segment length 111.112635 meters # Minimum depth: 1447.578332 meters looking forward 100.000000 meters along route # Maximum depth: 1450.067890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.578332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735868; longitude = -122.109106; duration = 222; initialDepth = 1396.410106; finalDepth = 1397.578332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4293129999999 # Actual altitude: 53.4293129999999 # Commanded vehicle depth: 1397.578332 # Seafloor depth: -1450.067890 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.37; 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 94 # Segment length 111.112402 meters # Minimum depth: 1446.410106 meters looking forward 100.000000 meters along route # Maximum depth: 1447.555232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.410106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736764; longitude = -122.108550; duration = 222; initialDepth = 1395.240585; finalDepth = 1396.410106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.489558 # Actual altitude: 52.489558 # Commanded vehicle depth: 1396.410106 # Seafloor depth: -1447.555232 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.00; 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 94 # Segment length 111.112166 meters # Minimum depth: 1445.240585 meters looking forward 100.000000 meters along route # Maximum depth: 1446.442752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.240585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737660; longitude = -122.107993; duration = 222; initialDepth = 1393.489324; finalDepth = 1395.240585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2021669999999 # Actual altitude: 51.2021669999999 # Commanded vehicle depth: 1395.240585 # Seafloor depth: -1446.442752 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.48; 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 94 # Segment length 111.111933 meters # Minimum depth: 1443.489324 meters looking forward 100.000000 meters along route # Maximum depth: 1445.475226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.489324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738556; longitude = -122.107437; duration = 222; initialDepth = 1385.918508; finalDepth = 1393.489324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8209160000001 # Actual altitude: 51.8209160000001 # Commanded vehicle depth: 1393.489324 # Seafloor depth: -1445.310240 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.73; 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 94 # Segment length 111.111699 meters # Minimum depth: 1435.918508 meters looking forward 100.000000 meters along route # Maximum depth: 1443.417493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.918508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739452; longitude = -122.106880; duration = 222; initialDepth = 1384.821000; finalDepth = 1385.918508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4989849999999 # Actual altitude: 57.4989849999999 # Commanded vehicle depth: 1385.918508 # Seafloor depth: -1443.417493 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.00; 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 94 # Segment length 111.560226 meters # Minimum depth: 1434.821000 meters looking forward 100.000000 meters along route # Maximum depth: 1435.911258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.821000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740348; longitude = -122.106324; duration = 223; initialDepth = 1384.852263; finalDepth = 1384.821000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4989849999999 # Actual altitude: 57.4989849999999 # Commanded vehicle depth: 1384.821 # Seafloor depth: -1435.911258 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.00; 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 94 # Segment length 111.788830 meters # Minimum depth: 1434.852263 meters looking forward 100.000000 meters along route # Maximum depth: 1436.107762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.852263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741247; longitude = -122.105765; duration = 223; initialDepth = 1386.105745; finalDepth = 1384.852263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0902580000002 # Actual altitude: 51.0902580000002 # Commanded vehicle depth: 1384.852263 # Seafloor depth: -1434.852263 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.44; 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 94 # Segment length 111.788594 meters # Minimum depth: 1436.105745 meters looking forward 100.000000 meters along route # Maximum depth: 1437.665336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.105745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742148; longitude = -122.105205; duration = 223; initialDepth = 1387.680836; finalDepth = 1386.105745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.105745 # Seafloor depth: -1436.105745 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 94 # Segment length 111.788356 meters # Minimum depth: 1437.680836 meters looking forward 100.000000 meters along route # Maximum depth: 1438.741860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.680836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743050; longitude = -122.104645; duration = 223; initialDepth = 1386.165733; finalDepth = 1387.680836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1387.680836 # Seafloor depth: -1437.680836 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 94 # Segment length 111.788120 meters # Minimum depth: 1436.165733 meters looking forward 100.000000 meters along route # Maximum depth: 1438.808687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.165733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743951; longitude = -122.104085; duration = 223; initialDepth = 1384.590791; finalDepth = 1386.165733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6429539999999 # Actual altitude: 52.6429539999999 # Commanded vehicle depth: 1386.165733 # Seafloor depth: -1438.808687 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.06; 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 94 # Segment length 111.787882 meters # Minimum depth: 1434.590791 meters looking forward 100.000000 meters along route # Maximum depth: 1435.993963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.590791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744852; longitude = -122.103526; duration = 223; initialDepth = 1382.911448; finalDepth = 1384.590791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6429539999999 # Actual altitude: 52.6429539999999 # Commanded vehicle depth: 1384.590791 # Seafloor depth: -1435.993963 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.06; 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 94 # Segment length 111.787645 meters # Minimum depth: 1432.911448 meters looking forward 100.000000 meters along route # Maximum depth: 1435.150283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.911448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745754; longitude = -122.102966; duration = 223; initialDepth = 1367.698283; finalDepth = 1382.911448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9383909999999 # Actual altitude: 51.9383909999999 # Commanded vehicle depth: 1382.911448 # Seafloor depth: -1434.849839 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.78; 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 94 # Segment length 111.787409 meters # Minimum depth: 1417.698283 meters looking forward 100.000000 meters along route # Maximum depth: 1432.576332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.698283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746655; longitude = -122.102406; duration = 223; initialDepth = 1349.643586; finalDepth = 1367.698283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8780490000001 # Actual altitude: 64.8780490000001 # Commanded vehicle depth: 1367.698283 # Seafloor depth: -1432.576332 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.95; 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 94 # Segment length 111.787171 meters # Minimum depth: 1399.643586 meters looking forward 100.000000 meters along route # Maximum depth: 1416.993314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.643586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747556; longitude = -122.101846; duration = 223; initialDepth = 1338.380397; finalDepth = 1349.643586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3497280000001 # Actual altitude: 67.3497280000001 # Commanded vehicle depth: 1349.643586 # Seafloor depth: -1416.993314 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.94; 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 94 # Segment length 111.786935 meters # Minimum depth: 1388.380397 meters looking forward 100.000000 meters along route # Maximum depth: 1398.886618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.380397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748458; longitude = -122.101286; duration = 223; initialDepth = 1324.253875; finalDepth = 1338.380397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3497280000001 # Actual altitude: 67.3497280000001 # Commanded vehicle depth: 1338.380397 # Seafloor depth: -1398.886618 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.94; 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 94 # Segment length 111.786697 meters # Minimum depth: 1374.253875 meters looking forward 100.000000 meters along route # Maximum depth: 1387.641376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.253875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749359; longitude = -122.100726; duration = 223; initialDepth = 1303.781048; finalDepth = 1324.253875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3875009999999 # Actual altitude: 63.3875009999999 # Commanded vehicle depth: 1324.253875 # Seafloor depth: -1387.641376 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.36; 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 94 # Segment length 111.786461 meters # Minimum depth: 1353.781048 meters looking forward 100.000000 meters along route # Maximum depth: 1373.201584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.781048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750260; longitude = -122.100166; duration = 223; initialDepth = 1283.373515; finalDepth = 1303.781048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4205359999999 # Actual altitude: 69.4205359999999 # Commanded vehicle depth: 1303.781048 # Seafloor depth: -1373.201584 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.77; 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 94 # Segment length 111.786223 meters # Minimum depth: 1333.373515 meters looking forward 100.000000 meters along route # Maximum depth: 1352.446278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.373515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751162; longitude = -122.099606; duration = 223; initialDepth = 1267.362239; finalDepth = 1283.373515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4205359999999 # Actual altitude: 69.4205359999999 # Commanded vehicle depth: 1283.373515 # Seafloor depth: -1352.446278 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.77; 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 94 # Segment length 111.785987 meters # Minimum depth: 1317.362239 meters looking forward 100.000000 meters along route # Maximum depth: 1332.268718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1267.362239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752063; longitude = -122.099047; duration = 223; initialDepth = 1248.733543; finalDepth = 1267.362239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.0727629999999 # Actual altitude: 69.0727629999999 # Commanded vehicle depth: 1267.362239 # Seafloor depth: -1332.268718 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.63; 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 94 # Segment length 111.785750 meters # Minimum depth: 1298.733543 meters looking forward 100.000000 meters along route # Maximum depth: 1315.982698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.733543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752964; longitude = -122.098487; duration = 223; initialDepth = 1239.070973; finalDepth = 1248.733543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.249155 # Actual altitude: 67.249155 # Commanded vehicle depth: 1248.733543 # Seafloor depth: -1315.982698 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.90; 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 94 # Segment length 111.785512 meters # Minimum depth: 1289.070973 meters looking forward 100.000000 meters along route # Maximum depth: 1296.942904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.070973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753866; longitude = -122.097927; duration = 223; initialDepth = 1235.026318; finalDepth = 1239.070973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.249155 # Actual altitude: 67.249155 # Commanded vehicle depth: 1239.070973 # Seafloor depth: -1296.942904 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.90; 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 94 # Segment length 100.495258 meters # Minimum depth: 1285.026318 meters looking forward 100.000000 meters along route # Maximum depth: 1288.856877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.026318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754767; longitude = -122.097367; duration = 200; initialDepth = 1229.667880; finalDepth = 1235.026318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8719309999999 # Actual altitude: 57.8719309999999 # Commanded vehicle depth: 1235.026318 # Seafloor depth: -1288.856877 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.15; 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 94 # Segment length 111.107485 meters # Minimum depth: 1279.667880 meters looking forward 100.000000 meters along route # Maximum depth: 1283.605779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.667880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755577; longitude = -122.096864; duration = 222; initialDepth = 1229.545640; finalDepth = 1229.667880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.937899 # Actual altitude: 53.937899 # Commanded vehicle depth: 1229.66788 # Seafloor depth: -1283.605779 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.58; 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 94 # Segment length 111.107251 meters # Minimum depth: 1279.545640 meters looking forward 100.000000 meters along route # Maximum depth: 1281.367303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.545640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756473; longitude = -122.096307; duration = 222; initialDepth = 1229.895803; finalDepth = 1229.545640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.937899 # Actual altitude: 53.937899 # Commanded vehicle depth: 1229.54564 # Seafloor depth: -1279.545640 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.58; 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 94 # Segment length 111.107016 meters # Minimum depth: 1279.895803 meters looking forward 100.000000 meters along route # Maximum depth: 1281.404541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.895803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757369; longitude = -122.095751; duration = 222; initialDepth = 1214.030991; finalDepth = 1229.895803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5087380000002 # Actual altitude: 51.5087380000002 # Commanded vehicle depth: 1229.895803 # Seafloor depth: -1281.404541 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.60; 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 94 # Segment length 111.106783 meters # Minimum depth: 1264.030991 meters looking forward 100.000000 meters along route # Maximum depth: 1278.716189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.030991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758265; longitude = -122.095194; duration = 222; initialDepth = 1201.033952; finalDepth = 1214.030991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6851979999999 # Actual altitude: 64.6851979999999 # Commanded vehicle depth: 1214.030991 # Seafloor depth: -1278.716189 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.87; 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 94 # Segment length 111.106548 meters # Minimum depth: 1251.033952 meters looking forward 100.000000 meters along route # Maximum depth: 1261.832704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.033952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759161; longitude = -122.094638; duration = 222; initialDepth = 1193.567572; finalDepth = 1201.033952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6851979999999 # Actual altitude: 64.6851979999999 # Commanded vehicle depth: 1201.033952 # Seafloor depth: -1261.832704 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.87; 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 94 # Segment length 111.106314 meters # Minimum depth: 1243.567572 meters looking forward 100.000000 meters along route # Maximum depth: 1250.476312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.567572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760056; longitude = -122.094081; duration = 222; initialDepth = 1172.509843; finalDepth = 1193.567572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7987519999999 # Actual altitude: 60.7987519999999 # Commanded vehicle depth: 1193.567572 # Seafloor depth: -1250.476312 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.32; 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 94 # Segment length 111.106080 meters # Minimum depth: 1222.509843 meters looking forward 100.000000 meters along route # Maximum depth: 1241.596146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.509843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760952; longitude = -122.093525; duration = 222; initialDepth = 1146.551502; finalDepth = 1172.509843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.086303 # Actual altitude: 69.086303 # Commanded vehicle depth: 1172.509843 # Seafloor depth: -1241.596146 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.63; 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 94 # Segment length 111.105847 meters # Minimum depth: 1196.551502 meters looking forward 100.000000 meters along route # Maximum depth: 1220.016676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.551502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761848; longitude = -122.092968; duration = 222; initialDepth = 1124.734395; finalDepth = 1146.551502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4651739999999 # Actual altitude: 73.4651739999999 # Commanded vehicle depth: 1146.551502 # Seafloor depth: -1220.016676 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.39; 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 94 # Segment length 100.547750 meters # Minimum depth: 1174.734395 meters looking forward 100.000000 meters along route # Maximum depth: 1194.180852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.734395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762744; longitude = -122.092412; duration = 201; initialDepth = 1110.030329; finalDepth = 1124.734395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4651739999999 # Actual altitude: 73.4651739999999 # Commanded vehicle depth: 1124.734395 # Seafloor depth: -1194.180852 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.39; 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 94 # Segment length 107.812587 meters # Minimum depth: 1160.030329 meters looking forward 100.000000 meters along route # Maximum depth: 1169.217843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.030329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763555; longitude = -122.091908; duration = 215; initialDepth = 1098.625843; finalDepth = 1110.030329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.446457 # Actual altitude: 69.446457 # Commanded vehicle depth: 1110.030329 # Seafloor depth: -1169.217843 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.78; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 158.126566 meters # Minimum depth: 1148.625843 meters looking forward 100.000000 meters along route # Maximum depth: 1159.818848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.625843 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764424; longitude = -122.091368; duration = 316; # abortOnTimeout = True; initialDepth = 1098.498291; finalDepth = 1098.625843; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 61.1930049999999 # Actual altitude: 61.1930049999999 # Commanded vehicle depth: 1098.625843 # Seafloor depth: -1159.818848 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.48; 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 92 # Segment length 90.848683 meters # Minimum depth: 1148.498291 meters looking forward 100.000000 meters along route # Maximum depth: 1157.940817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.498291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763612; longitude = -122.089912; duration = 181; # abortOnTimeout = True; initialDepth = 1114.710155; finalDepth = 1098.498291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1930049999999 # Actual altitude: 61.1930049999999 # Commanded vehicle depth: 1098.498291 # Seafloor depth: -1148.498291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.48; 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 92 # Segment length 111.665836 meters # Minimum depth: 1164.710155 meters looking forward 100.000000 meters along route # Maximum depth: 1190.237563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.710155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762879; longitude = -122.090365; duration = 223; initialDepth = 1145.980291; finalDepth = 1114.710155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1114.710155 # Seafloor depth: -1164.710155 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.666071 meters # Minimum depth: 1195.980291 meters looking forward 100.000000 meters along route # Maximum depth: 1215.818744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.980291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761977; longitude = -122.090922; duration = 223; initialDepth = 1170.720210; finalDepth = 1145.980291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1145.980291 # Seafloor depth: -1195.980291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.666305 meters # Minimum depth: 1220.720210 meters looking forward 100.000000 meters along route # Maximum depth: 1223.784447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.720210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761076; longitude = -122.091479; duration = 223; initialDepth = 1172.506435; finalDepth = 1170.720210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1170.72021 # Seafloor depth: -1220.720210 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.666540 meters # Minimum depth: 1222.506435 meters looking forward 100.000000 meters along route # Maximum depth: 1226.084360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.506435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760175; longitude = -122.092036; duration = 223; initialDepth = 1179.434833; finalDepth = 1172.506435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1172.506435 # Seafloor depth: -1222.506435 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.666774 meters # Minimum depth: 1229.434833 meters looking forward 100.000000 meters along route # Maximum depth: 1239.896134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.434833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759273; longitude = -122.092593; duration = 223; initialDepth = 1192.864666; finalDepth = 1179.434833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1179.434833 # Seafloor depth: -1229.434833 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.667009 meters # Minimum depth: 1242.864666 meters looking forward 100.000000 meters along route # Maximum depth: 1251.401746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.864666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758372; longitude = -122.093150; duration = 223; initialDepth = 1204.551319; finalDepth = 1192.864666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1192.864666 # Seafloor depth: -1242.864666 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.667243 meters # Minimum depth: 1254.551319 meters looking forward 100.000000 meters along route # Maximum depth: 1258.954990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.551319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757471; longitude = -122.093707; duration = 223; initialDepth = 1210.303831; finalDepth = 1204.551319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1204.551319 # Seafloor depth: -1254.551319 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.667478 meters # Minimum depth: 1260.303831 meters looking forward 100.000000 meters along route # Maximum depth: 1266.806416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.303831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756569; longitude = -122.094264; duration = 223; initialDepth = 1218.272155; finalDepth = 1210.303831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1210.303831 # Seafloor depth: -1260.303831 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.667712 meters # Minimum depth: 1268.272155 meters looking forward 100.000000 meters along route # Maximum depth: 1276.655647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.272155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755668; longitude = -122.094821; duration = 223; initialDepth = 1229.217882; finalDepth = 1218.272155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1218.272155 # Seafloor depth: -1268.272155 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.667947 meters # Minimum depth: 1279.217882 meters looking forward 100.000000 meters along route # Maximum depth: 1287.586992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.217882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754767; longitude = -122.095377; duration = 223; initialDepth = 1241.672821; finalDepth = 1229.217882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1229.217882 # Seafloor depth: -1279.217882 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.668181 meters # Minimum depth: 1291.672821 meters looking forward 100.000000 meters along route # Maximum depth: 1308.474216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.672821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753866; longitude = -122.095934; duration = 223; initialDepth = 1264.226986; finalDepth = 1241.672821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1241.672821 # Seafloor depth: -1291.672821 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.668416 meters # Minimum depth: 1314.226986 meters looking forward 100.000000 meters along route # Maximum depth: 1327.394127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.226986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752964; longitude = -122.096491; duration = 223; initialDepth = 1280.351288; finalDepth = 1264.226986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1264.226986 # Seafloor depth: -1314.226986 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.668650 meters # Minimum depth: 1330.351288 meters looking forward 100.000000 meters along route # Maximum depth: 1344.946785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1280.351288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752063; longitude = -122.097048; duration = 223; initialDepth = 1307.755809; finalDepth = 1280.351288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1280.351288 # Seafloor depth: -1330.351288 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.668885 meters # Minimum depth: 1357.755809 meters looking forward 100.000000 meters along route # Maximum depth: 1367.058105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.755809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751162; longitude = -122.097605; duration = 223; initialDepth = 1315.744765; finalDepth = 1307.755809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1307.755809 # Seafloor depth: -1357.755809 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.669119 meters # Minimum depth: 1365.744765 meters looking forward 100.000000 meters along route # Maximum depth: 1367.153506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1315.744765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750260; longitude = -122.098162; duration = 223; initialDepth = 1319.273411; finalDepth = 1315.744765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4087410000002 # Actual altitude: 51.4087410000002 # Commanded vehicle depth: 1315.744765 # Seafloor depth: -1367.153506 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 92 # Segment length 111.669354 meters # Minimum depth: 1369.273411 meters looking forward 100.000000 meters along route # Maximum depth: 1377.406054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.273411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749359; longitude = -122.098719; duration = 223; initialDepth = 1329.697197; finalDepth = 1319.273411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4087410000002 # Actual altitude: 51.4087410000002 # Commanded vehicle depth: 1319.273411 # Seafloor depth: -1369.273411 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 92 # Segment length 111.669588 meters # Minimum depth: 1379.697197 meters looking forward 100.000000 meters along route # Maximum depth: 1386.361146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.697197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748458; longitude = -122.099276; duration = 223; initialDepth = 1337.607626; finalDepth = 1329.697197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1329.697197 # Seafloor depth: -1379.697197 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.669823 meters # Minimum depth: 1387.607626 meters looking forward 100.000000 meters along route # Maximum depth: 1393.364323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.607626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747556; longitude = -122.099833; duration = 223; initialDepth = 1346.363079; finalDepth = 1337.607626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1337.607626 # Seafloor depth: -1387.607626 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.670057 meters # Minimum depth: 1396.363079 meters looking forward 100.000000 meters along route # Maximum depth: 1414.301729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1346.363079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746655; longitude = -122.100390; duration = 223; initialDepth = 1366.976024; finalDepth = 1346.363079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1346.363079 # Seafloor depth: -1396.363079 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.670292 meters # Minimum depth: 1416.976024 meters looking forward 100.000000 meters along route # Maximum depth: 1419.487966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.976024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745754; longitude = -122.100947; duration = 223; initialDepth = 1363.784508; finalDepth = 1366.976024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1366.976024 # Seafloor depth: -1416.976024 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.670527 meters # Minimum depth: 1413.784508 meters looking forward 100.000000 meters along route # Maximum depth: 1417.175010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.784508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744852; longitude = -122.101504; duration = 223; initialDepth = 1363.723824; finalDepth = 1363.784508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.390502 # Actual altitude: 53.390502 # Commanded vehicle depth: 1363.784508 # Seafloor depth: -1417.175010 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.36; 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 92 # Segment length 111.670761 meters # Minimum depth: 1413.723824 meters looking forward 100.000000 meters along route # Maximum depth: 1420.365097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.723824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743951; longitude = -122.102061; duration = 223; initialDepth = 1375.322084; finalDepth = 1363.723824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.390502 # Actual altitude: 53.390502 # Commanded vehicle depth: 1363.723824 # Seafloor depth: -1413.723824 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.36; 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 92 # Segment length 111.670995 meters # Minimum depth: 1425.322084 meters looking forward 100.000000 meters along route # Maximum depth: 1435.179931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.322084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743050; longitude = -122.102618; duration = 223; initialDepth = 1382.902153; finalDepth = 1375.322084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1375.322084 # Seafloor depth: -1425.322084 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.671230 meters # Minimum depth: 1432.902153 meters looking forward 100.000000 meters along route # Maximum depth: 1435.719595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.902153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742148; longitude = -122.103175; duration = 223; initialDepth = 1380.230447; finalDepth = 1382.902153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.817442 # Actual altitude: 52.817442 # Commanded vehicle depth: 1382.902153 # Seafloor depth: -1435.719595 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.13; 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 92 # Segment length 111.671465 meters # Minimum depth: 1430.230447 meters looking forward 100.000000 meters along route # Maximum depth: 1432.201855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.230447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741247; longitude = -122.103731; duration = 223; initialDepth = 1380.145131; finalDepth = 1380.230447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.817442 # Actual altitude: 52.817442 # Commanded vehicle depth: 1380.230447 # Seafloor depth: -1432.201855 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.13; 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 92 # Segment length 111.671699 meters # Minimum depth: 1430.145131 meters looking forward 100.000000 meters along route # Maximum depth: 1431.278547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.145131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740346; longitude = -122.104288; duration = 223; initialDepth = 1382.568962; finalDepth = 1380.145131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9714080000001 # Actual altitude: 51.9714080000001 # Commanded vehicle depth: 1380.145131 # Seafloor depth: -1430.145131 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.79; 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 92 # Segment length 111.671934 meters # Minimum depth: 1432.568962 meters looking forward 100.000000 meters along route # Maximum depth: 1435.003525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.568962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739444; longitude = -122.104845; duration = 223; initialDepth = 1386.115703; finalDepth = 1382.568962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.409737 # Actual altitude: 50.409737 # Commanded vehicle depth: 1382.568962 # Seafloor depth: -1432.978699 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; 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 92 # Segment length 111.672168 meters # Minimum depth: 1436.115703 meters looking forward 100.000000 meters along route # Maximum depth: 1440.380047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.115703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738543; longitude = -122.105402; duration = 223; initialDepth = 1391.365715; finalDepth = 1386.115703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.409737 # Actual altitude: 50.409737 # Commanded vehicle depth: 1386.115703 # Seafloor depth: -1436.115703 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; 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 92 # Segment length 111.672403 meters # Minimum depth: 1441.365715 meters looking forward 100.000000 meters along route # Maximum depth: 1442.557168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.365715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737642; longitude = -122.105959; duration = 223; initialDepth = 1391.783448; finalDepth = 1391.365715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1391.365715 # Seafloor depth: -1441.365715 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.672638 meters # Minimum depth: 1441.783448 meters looking forward 100.000000 meters along route # Maximum depth: 1444.115685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.783448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736741; longitude = -122.106516; duration = 223; initialDepth = 1394.976010; finalDepth = 1391.783448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1391.783448 # Seafloor depth: -1441.783448 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.672872 meters # Minimum depth: 1444.976010 meters looking forward 100.000000 meters along route # Maximum depth: 1448.116460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.976010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735839; longitude = -122.107073; duration = 223; initialDepth = 1399.628188; finalDepth = 1394.976010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.97601 # Seafloor depth: -1444.976010 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.673106 meters # Minimum depth: 1449.628188 meters looking forward 100.000000 meters along route # Maximum depth: 1453.367642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.628188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734938; longitude = -122.107630; duration = 223; initialDepth = 1404.445634; finalDepth = 1399.628188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1399.628188 # Seafloor depth: -1449.628188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.673342 meters # Minimum depth: 1454.445634 meters looking forward 100.000000 meters along route # Maximum depth: 1459.571610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.445634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734037; longitude = -122.108187; duration = 223; initialDepth = 1412.456524; finalDepth = 1404.445634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1404.445634 # Seafloor depth: -1454.445634 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.673575 meters # Minimum depth: 1462.456524 meters looking forward 100.000000 meters along route # Maximum depth: 1469.798564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.456524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733135; longitude = -122.108744; duration = 223; initialDepth = 1423.646426; finalDepth = 1412.456524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1412.456524 # Seafloor depth: -1462.456524 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.673811 meters # Minimum depth: 1473.646426 meters looking forward 100.000000 meters along route # Maximum depth: 1485.445499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.646426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732234; longitude = -122.109301; duration = 223; initialDepth = 1439.459213; finalDepth = 1423.646426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1423.646426 # Seafloor depth: -1473.646426 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 111.674045 meters # Minimum depth: 1489.459213 meters looking forward 100.000000 meters along route # Maximum depth: 1500.158873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.459213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731333; longitude = -122.109858; duration = 223; initialDepth = 1452.951591; finalDepth = 1439.459213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1439.459213 # Seafloor depth: -1489.459213 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 92 # Segment length 110.554429 meters # Minimum depth: 1502.951591 meters looking forward 100.000000 meters along route # Maximum depth: 1511.925389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.951591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730431; longitude = -122.110415; duration = 221; initialDepth = 1463.462219; finalDepth = 1452.951591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1452.951591 # Seafloor depth: -1502.951591 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 100.591636 meters # Minimum depth: 1513.462219 meters looking forward 100.000000 meters along route # Maximum depth: 1518.933617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.462219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729539; longitude = -122.110966; duration = 201; # abortOnTimeout = True; initialDepth = 1469.255098; finalDepth = 1463.462219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1463.462219 # Seafloor depth: -1513.462219 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 110.310587 meters # Minimum depth: 1519.255098 meters looking forward 100.000000 meters along route # Maximum depth: 1527.826402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.255098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729079; longitude = -122.111937; duration = 220; initialDepth = 1478.667924; finalDepth = 1469.255098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1469.255098 # Seafloor depth: -1519.255098 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 115.303642 meters # Minimum depth: 1528.667924 meters looking forward 100.000000 meters along route # Maximum depth: 1532.952352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.667924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728575; longitude = -122.113002; duration = 230; initialDepth = 1483.848846; finalDepth = 1478.667924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1478.667924 # Seafloor depth: -1528.667924 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 119.537568 meters # Minimum depth: 1533.848846 meters looking forward 100.000000 meters along route # Maximum depth: 1540.425886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.848846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728048; longitude = -122.114115; duration = 239; initialDepth = 1490.725571; finalDepth = 1483.848846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1483.848846 # Seafloor depth: -1533.848846 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 111.071398 meters # Minimum depth: 1540.725571 meters looking forward 100.000000 meters along route # Maximum depth: 1544.300352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.725571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727502; longitude = -122.115269; duration = 222; initialDepth = 1494.353628; finalDepth = 1490.725571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1490.725571 # Seafloor depth: -1540.725571 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 115.305324 meters # Minimum depth: 1544.353628 meters looking forward 100.000000 meters along route # Maximum depth: 1544.501431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.353628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726994; longitude = -122.116341; duration = 230; initialDepth = 1491.578060; finalDepth = 1494.353628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0927389999999 # Actual altitude: 50.0927389999999 # Commanded vehicle depth: 1494.353628 # Seafloor depth: -1544.446367 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.04; 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 91 # Segment length 118.780096 meters # Minimum depth: 1541.578060 meters looking forward 100.000000 meters along route # Maximum depth: 1544.756918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.578060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726467; longitude = -122.117454; duration = 237; initialDepth = 1478.563313; finalDepth = 1491.578060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.178858 # Actual altitude: 53.178858 # Commanded vehicle depth: 1491.57806 # Seafloor depth: -1544.756918 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.27; 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 91 # Segment length 111.832233 meters # Minimum depth: 1528.563313 meters looking forward 100.000000 meters along route # Maximum depth: 1541.298561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.563313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725925; longitude = -122.118600; duration = 223; initialDepth = 1475.204625; finalDepth = 1478.563313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.735248 # Actual altitude: 62.735248 # Commanded vehicle depth: 1478.563313 # Seafloor depth: -1541.298561 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.09; 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 91 # Segment length 115.307005 meters # Minimum depth: 1525.204625 meters looking forward 100.000000 meters along route # Maximum depth: 1526.941965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.204625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725414; longitude = -122.119680; duration = 230; initialDepth = 1477.092018; finalDepth = 1475.204625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.735248 # Actual altitude: 62.735248 # Commanded vehicle depth: 1475.204625 # Seafloor depth: -1526.941965 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.09; 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 91 # Segment length 118.022604 meters # Minimum depth: 1527.092018 meters looking forward 100.000000 meters along route # Maximum depth: 1537.418157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.092018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724887; longitude = -122.120793; duration = 236; initialDepth = 1487.578964; finalDepth = 1477.092018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7373399999999 # Actual altitude: 51.7373399999999 # Commanded vehicle depth: 1477.092018 # Seafloor depth: -1527.092018 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.69; 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 91 # Segment length 112.593089 meters # Minimum depth: 1537.578964 meters looking forward 100.000000 meters along route # Maximum depth: 1544.409759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.578964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724347; longitude = -122.121932; duration = 225; initialDepth = 1496.017549; finalDepth = 1487.578964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1487.578964 # Seafloor depth: -1537.578964 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 115.308687 meters # Minimum depth: 1546.017549 meters looking forward 100.000000 meters along route # Maximum depth: 1556.523403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.017549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723833; longitude = -122.123019; duration = 230; initialDepth = 1511.230850; finalDepth = 1496.017549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1496.017549 # Seafloor depth: -1546.017549 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 115.309248 meters # Minimum depth: 1561.230850 meters looking forward 100.000000 meters along route # Maximum depth: 1567.263399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.230850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723306; longitude = -122.124132; duration = 230; initialDepth = 1484.253499; finalDepth = 1511.230850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.129306 # Actual altitude: 52.129306 # Commanded vehicle depth: 1511.23085 # Seafloor depth: -1563.360156 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.85; 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 91 # Segment length 100.575868 meters # Minimum depth: 1534.253499 meters looking forward 100.000000 meters along route # Maximum depth: 1554.547931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.253499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722779; longitude = -122.125245; duration = 201; initialDepth = 1457.003079; finalDepth = 1484.253499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2944320000001 # Actual altitude: 70.2944320000001 # Commanded vehicle depth: 1484.253499 # Seafloor depth: -1554.547931 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.12; 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 91 # Segment length 101.216665 meters # Minimum depth: 1507.003079 meters looking forward 100.000000 meters along route # Maximum depth: 1531.077761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.003079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722319; longitude = -122.126215; duration = 202; initialDepth = 1439.721754; finalDepth = 1457.003079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.0746819999999 # Actual altitude: 74.0746819999999 # Commanded vehicle depth: 1457.003079 # Seafloor depth: -1531.077761 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.63; 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 91 # Segment length 115.310790 meters # Minimum depth: 1489.721754 meters looking forward 100.000000 meters along route # Maximum depth: 1506.407495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.721754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721857; longitude = -122.127192; duration = 230; initialDepth = 1439.947492; finalDepth = 1439.721754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.0746819999999 # Actual altitude: 74.0746819999999 # Commanded vehicle depth: 1439.721754 # Seafloor depth: -1506.407495 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.63; 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 91 # Segment length 128.645869 meters # Minimum depth: 1489.947492 meters looking forward 100.000000 meters along route # Maximum depth: 1492.852077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.947492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721330; longitude = -122.128305; duration = 257; initialDepth = 1440.523646; finalDepth = 1439.947492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.685741 # Actual altitude: 66.685741 # Commanded vehicle depth: 1439.947492 # Seafloor depth: -1489.947492 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.67; 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 91 # Segment length 101.977393 meters # Minimum depth: 1490.523646 meters looking forward 100.000000 meters along route # Maximum depth: 1495.285405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.523646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720742; longitude = -122.129547; duration = 203; initialDepth = 1445.522609; finalDepth = 1440.523646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1440.523646 # Seafloor depth: -1490.523646 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 115.312472 meters # Minimum depth: 1495.522609 meters looking forward 100.000000 meters along route # Maximum depth: 1516.837767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.522609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720276; longitude = -122.130531; duration = 230; initialDepth = 1469.572945; finalDepth = 1445.522609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1445.522609 # Seafloor depth: -1495.522609 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 127.888484 meters # Minimum depth: 1519.572945 meters looking forward 100.000000 meters along route # Maximum depth: 1529.410603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.572945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719749; longitude = -122.131644; duration = 255; initialDepth = 1452.166934; finalDepth = 1469.572945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1469.572945 # Seafloor depth: -1519.572945 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 91 # Segment length 102.738143 meters # Minimum depth: 1502.166934 meters looking forward 100.000000 meters along route # Maximum depth: 1526.208376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.166934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719165; longitude = -122.132879; duration = 205; initialDepth = 1409.877618; finalDepth = 1452.166934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.041442 # Actual altitude: 74.041442 # Commanded vehicle depth: 1452.166934 # Seafloor depth: -1526.208376 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.62; 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 91 # Segment length 115.314154 meters # Minimum depth: 1459.877618 meters looking forward 100.000000 meters along route # Maximum depth: 1500.663619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.877618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718695; longitude = -122.133870; duration = 230; initialDepth = 1365.776453; finalDepth = 1409.877618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.7860009999999 # Actual altitude: 90.7860009999999 # Commanded vehicle depth: 1409.877618 # Seafloor depth: -1500.663619 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.31; 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 91 # Segment length 127.131078 meters # Minimum depth: 1415.776453 meters looking forward 100.000000 meters along route # Maximum depth: 1451.439766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.776453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718168; longitude = -122.134983; duration = 254; initialDepth = 1337.210381; finalDepth = 1365.776453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.7860009999999 # Actual altitude: 90.7860009999999 # Commanded vehicle depth: 1365.776453 # Seafloor depth: -1451.439766 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.31; 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 91 # Segment length 103.498914 meters # Minimum depth: 1387.210381 meters looking forward 100.000000 meters along route # Maximum depth: 1412.742112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.210381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717588; longitude = -122.136210; duration = 206; initialDepth = 1306.732567; finalDepth = 1337.210381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.663313 # Actual altitude: 85.663313 # Commanded vehicle depth: 1337.210381 # Seafloor depth: -1412.742112 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.27; 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 91 # Segment length 115.315837 meters # Minimum depth: 1356.732567 meters looking forward 100.000000 meters along route # Maximum depth: 1385.656820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1306.732567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717115; longitude = -122.137209; duration = 230; initialDepth = 1282.228713; finalDepth = 1306.732567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9242529999999 # Actual altitude: 78.9242529999999 # Commanded vehicle depth: 1306.732567 # Seafloor depth: -1385.656820 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.57; 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 91 # Segment length 102.562891 meters # Minimum depth: 1332.228713 meters looking forward 100.000000 meters along route # Maximum depth: 1351.250731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.228713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716588; longitude = -122.138322; duration = 205; initialDepth = 1279.711945; finalDepth = 1282.228713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.9242529999999 # Actual altitude: 78.9242529999999 # Commanded vehicle depth: 1282.228713 # Seafloor depth: -1351.250731 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.57; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 170.490690 meters # Minimum depth: 1329.711945 meters looking forward 100.000000 meters along route # Maximum depth: 1332.339382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1279.711945 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716119; longitude = -122.139312; duration = 340; # abortOnTimeout = True; initialDepth = 1279.770846; finalDepth = 1279.711945; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 69.0220180000001 # Actual altitude: 69.0220180000001 # Commanded vehicle depth: 1279.711945 # Seafloor depth: -1329.711945 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.61; 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 89 # Segment length 90.495266 meters # Minimum depth: 1329.770846 meters looking forward 100.000000 meters along route # Maximum depth: 1348.472290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1279.770846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714696; longitude = -122.138591; duration = 180; # abortOnTimeout = True; initialDepth = 1299.611568; finalDepth = 1279.770846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1021400000002 # Actual altitude: 53.1021400000002 # Commanded vehicle depth: 1279.770846 # Seafloor depth: -1332.872986 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.24; 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 89 # Segment length 110.237578 meters # Minimum depth: 1349.611568 meters looking forward 100.000000 meters along route # Maximum depth: 1379.275265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.611568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715109; longitude = -122.137717; duration = 220; initialDepth = 1334.178237; finalDepth = 1299.611568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1021400000002 # Actual altitude: 53.1021400000002 # Commanded vehicle depth: 1299.611568 # Seafloor depth: -1349.611568 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.24; 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 89 # Segment length 115.257274 meters # Minimum depth: 1384.178237 meters looking forward 100.000000 meters along route # Maximum depth: 1428.113215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.178237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715612; longitude = -122.136653; duration = 230; initialDepth = 1387.923585; finalDepth = 1334.178237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1334.178237 # Seafloor depth: -1384.178237 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 120.214769 meters # Minimum depth: 1441.066792 meters looking forward 100.000000 meters along route # Maximum depth: 1480.276573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.923585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716138; longitude = -122.135540; duration = 240; initialDepth = 1431.167741; finalDepth = 1387.923585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143206520132 # Actual altitude: 53.143206520132 # Commanded vehicle depth: 1387.92358547987 # Seafloor depth: -1441.066792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.26; 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 89 # Segment length 110.298098 meters # Minimum depth: 1481.167741 meters looking forward 100.000000 meters along route # Maximum depth: 1494.891100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.167741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716686; longitude = -122.134379; duration = 220; initialDepth = 1447.070119; finalDepth = 1431.167741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143206520132 # Actual altitude: 53.143206520132 # Commanded vehicle depth: 1431.167741 # Seafloor depth: -1481.167741 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.26; 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 89 # Segment length 115.255594 meters # Minimum depth: 1497.070119 meters looking forward 100.000000 meters along route # Maximum depth: 1508.818492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.070119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717189; longitude = -122.133314; duration = 230; initialDepth = 1464.901684; finalDepth = 1447.070119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1447.070119 # Seafloor depth: -1497.070119 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 120.150891 meters # Minimum depth: 1514.901684 meters looking forward 100.000000 meters along route # Maximum depth: 1547.048699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.901684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717715; longitude = -122.132201; duration = 240; initialDepth = 1498.770541; finalDepth = 1464.901684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1464.901684 # Seafloor depth: -1514.901684 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 110.358616 meters # Minimum depth: 1548.770541 meters looking forward 100.000000 meters along route # Maximum depth: 1573.559326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.770541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718263; longitude = -122.131040; duration = 220; initialDepth = 1518.713925; finalDepth = 1498.770541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1498.770541 # Seafloor depth: -1548.770541 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 115.253914 meters # Minimum depth: 1568.713925 meters looking forward 100.000000 meters along route # Maximum depth: 1573.872651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.713925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718767; longitude = -122.129975; duration = 230; initialDepth = 1510.841961; finalDepth = 1518.713925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1587259999999 # Actual altitude: 55.1587259999999 # Commanded vehicle depth: 1518.713925 # Seafloor depth: -1573.872651 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.06; 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 89 # Segment length 120.087016 meters # Minimum depth: 1560.841961 meters looking forward 100.000000 meters along route # Maximum depth: 1568.341027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.841961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719293; longitude = -122.128862; duration = 240; initialDepth = 1497.679977; finalDepth = 1510.841961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4990659999999 # Actual altitude: 57.4990659999999 # Commanded vehicle depth: 1510.841961 # Seafloor depth: -1568.341027 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.00; 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 89 # Segment length 110.419132 meters # Minimum depth: 1547.679977 meters looking forward 100.000000 meters along route # Maximum depth: 1559.770836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.679977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719841; longitude = -122.127702; duration = 220; initialDepth = 1486.899670; finalDepth = 1497.679977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0908589999999 # Actual altitude: 62.0908589999999 # Commanded vehicle depth: 1497.679977 # Seafloor depth: -1559.770836 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.84; 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 89 # Segment length 115.252234 meters # Minimum depth: 1536.899670 meters looking forward 100.000000 meters along route # Maximum depth: 1547.937331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.899670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720345; longitude = -122.126636; duration = 230; initialDepth = 1484.529855; finalDepth = 1486.899670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0908589999999 # Actual altitude: 62.0908589999999 # Commanded vehicle depth: 1486.89967 # Seafloor depth: -1547.937331 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.84; 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 89 # Segment length 120.023142 meters # Minimum depth: 1534.529855 meters looking forward 100.000000 meters along route # Maximum depth: 1554.544749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.529855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720870; longitude = -122.125523; duration = 240; initialDepth = 1506.107563; finalDepth = 1484.529855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0376610000001 # Actual altitude: 61.0376610000001 # Commanded vehicle depth: 1484.529855 # Seafloor depth: -1534.529855 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.42; 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 89 # Segment length 110.479648 meters # Minimum depth: 1556.107563 meters looking forward 100.000000 meters along route # Maximum depth: 1581.552187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.107563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721418; longitude = -122.124364; duration = 220; initialDepth = 1532.683491; finalDepth = 1506.107563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1506.107563 # Seafloor depth: -1556.107563 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 115.250555 meters # Minimum depth: 1582.683491 meters looking forward 100.000000 meters along route # Maximum depth: 1584.552658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.683491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721922; longitude = -122.123297; duration = 230; initialDepth = 1529.039044; finalDepth = 1532.683491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1532.683491 # Seafloor depth: -1582.683491 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 119.959270 meters # Minimum depth: 1579.039044 meters looking forward 100.000000 meters along route # Maximum depth: 1583.500183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.039044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722448; longitude = -122.122184; duration = 239; initialDepth = 1513.973641; finalDepth = 1529.039044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.461139 # Actual altitude: 54.461139 # Commanded vehicle depth: 1529.039044 # Seafloor depth: -1583.500183 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.78; 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 89 # Segment length 110.540160 meters # Minimum depth: 1563.973641 meters looking forward 100.000000 meters along route # Maximum depth: 1578.672957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.973641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722995; longitude = -122.121025; duration = 221; initialDepth = 1498.004138; finalDepth = 1513.973641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.699316 # Actual altitude: 64.699316 # Commanded vehicle depth: 1513.973641 # Seafloor depth: -1578.672957 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.88; 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 89 # Segment length 115.248876 meters # Minimum depth: 1548.004138 meters looking forward 100.000000 meters along route # Maximum depth: 1561.954682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.004138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723500; longitude = -122.119958; duration = 230; initialDepth = 1499.877312; finalDepth = 1498.004138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.699316 # Actual altitude: 64.699316 # Commanded vehicle depth: 1498.004138 # Seafloor depth: -1561.954682 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.88; 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 89 # Segment length 119.895400 meters # Minimum depth: 1549.877312 meters looking forward 100.000000 meters along route # Maximum depth: 1557.000030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.877312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724026; longitude = -122.118845; duration = 239; initialDepth = 1507.472363; finalDepth = 1499.877312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.950544 # Actual altitude: 63.950544 # Commanded vehicle depth: 1499.877312 # Seafloor depth: -1549.877312 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.58; 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 89 # Segment length 110.600672 meters # Minimum depth: 1557.472363 meters looking forward 100.000000 meters along route # Maximum depth: 1567.373523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.472363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724573; longitude = -122.117687; duration = 221; initialDepth = 1517.955377; finalDepth = 1507.472363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1507.472363 # Seafloor depth: -1557.472363 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 115.247197 meters # Minimum depth: 1567.955377 meters looking forward 100.000000 meters along route # Maximum depth: 1570.399783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.955377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725077; longitude = -122.116619; duration = 230; initialDepth = 1510.570805; finalDepth = 1517.955377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1517.955377 # Seafloor depth: -1567.955377 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 89 # Segment length 119.831533 meters # Minimum depth: 1560.570805 meters looking forward 100.000000 meters along route # Maximum depth: 1569.125937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.570805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725603; longitude = -122.115506; duration = 239; initialDepth = 1500.573711; finalDepth = 1510.570805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.555132 # Actual altitude: 58.555132 # Commanded vehicle depth: 1510.570805 # Seafloor depth: -1569.125937 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.42; 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 89 # Segment length 110.661182 meters # Minimum depth: 1550.573711 meters looking forward 100.000000 meters along route # Maximum depth: 1560.229721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.573711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726150; longitude = -122.114349; duration = 221; initialDepth = 1497.359043; finalDepth = 1500.573711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6560099999999 # Actual altitude: 59.6560099999999 # Commanded vehicle depth: 1500.573711 # Seafloor depth: -1560.229721 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.86; 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 89 # Segment length 115.245518 meters # Minimum depth: 1547.359043 meters looking forward 100.000000 meters along route # Maximum depth: 1549.764354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.359043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726655; longitude = -122.113280; duration = 230; initialDepth = 1489.177088; finalDepth = 1497.359043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6560099999999 # Actual altitude: 59.6560099999999 # Commanded vehicle depth: 1497.359043 # Seafloor depth: -1549.764354 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.86; 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 89 # Segment length 119.767667 meters # Minimum depth: 1539.177088 meters looking forward 100.000000 meters along route # Maximum depth: 1544.898786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.177088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727181; longitude = -122.112167; duration = 239; initialDepth = 1485.008379; finalDepth = 1489.177088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7216980000001 # Actual altitude: 55.7216980000001 # Commanded vehicle depth: 1489.177088 # Seafloor depth: -1544.898786 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.29; 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 89 # Segment length 120.462431 meters # Minimum depth: 1535.008379 meters looking forward 100.000000 meters along route # Maximum depth: 1538.992423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.008379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727727; longitude = -122.111010; duration = 240; initialDepth = 1471.077079; finalDepth = 1485.008379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.7216980000001 # Actual altitude: 55.7216980000001 # Commanded vehicle depth: 1485.008379 # Seafloor depth: -1538.992423 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.29; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 182.915287 meters # Minimum depth: 1521.077079 meters looking forward 100.000000 meters along route # Maximum depth: 1534.935272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.077079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728277; longitude = -122.109847; duration = 365; # abortOnTimeout = True; initialDepth = 1453.994259; finalDepth = 1471.077079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.858193 # Actual altitude: 63.858193 # Commanded vehicle depth: 1471.077079 # Seafloor depth: -1534.935272 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.54; 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 88 # Segment length 111.523561 meters # Minimum depth: 1503.994259 meters looking forward 100.000000 meters along route # Maximum depth: 1515.857052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.994259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729755; longitude = -122.108940; duration = 223; initialDepth = 1437.478876; finalDepth = 1453.994259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.858193 # Actual altitude: 63.858193 # Commanded vehicle depth: 1453.994259 # Seafloor depth: -1515.857052 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.54; 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 88 # Segment length 111.523331 meters # Minimum depth: 1487.478876 meters looking forward 100.000000 meters along route # Maximum depth: 1500.329470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.478876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730657; longitude = -122.108387; duration = 223; initialDepth = 1421.703202; finalDepth = 1437.478876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.850594 # Actual altitude: 62.850594 # Commanded vehicle depth: 1437.478876 # Seafloor depth: -1500.329470 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 88 # Segment length 111.523099 meters # Minimum depth: 1471.703202 meters looking forward 100.000000 meters along route # Maximum depth: 1483.267524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.703202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731558; longitude = -122.107834; duration = 223; initialDepth = 1410.091346; finalDepth = 1421.703202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.850594 # Actual altitude: 62.850594 # Commanded vehicle depth: 1421.703202 # Seafloor depth: -1483.267524 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 88 # Segment length 111.522868 meters # Minimum depth: 1460.091346 meters looking forward 100.000000 meters along route # Maximum depth: 1468.863865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.091346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732459; longitude = -122.107280; duration = 223; initialDepth = 1399.529790; finalDepth = 1410.091346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5643220000002 # Actual altitude: 61.5643220000002 # Commanded vehicle depth: 1410.091346 # Seafloor depth: -1468.863865 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.63; 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 88 # Segment length 111.522636 meters # Minimum depth: 1449.529790 meters looking forward 100.000000 meters along route # Maximum depth: 1457.345729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.529790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733361; longitude = -122.106727; duration = 223; initialDepth = 1396.014915; finalDepth = 1399.529790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7725190000001 # Actual altitude: 58.7725190000001 # Commanded vehicle depth: 1399.52979 # Seafloor depth: -1457.345729 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.51; 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 88 # Segment length 111.522404 meters # Minimum depth: 1446.014915 meters looking forward 100.000000 meters along route # Maximum depth: 1448.577664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.014915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734262; longitude = -122.106174; duration = 223; initialDepth = 1391.242070; finalDepth = 1396.014915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8159389999998 # Actual altitude: 57.8159389999998 # Commanded vehicle depth: 1396.014915 # Seafloor depth: -1448.577664 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.13; 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 88 # Segment length 111.522173 meters # Minimum depth: 1441.242070 meters looking forward 100.000000 meters along route # Maximum depth: 1445.361350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.242070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735163; longitude = -122.105621; duration = 223; initialDepth = 1388.058257; finalDepth = 1391.242070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1192799999999 # Actual altitude: 54.1192799999999 # Commanded vehicle depth: 1391.24207 # Seafloor depth: -1445.361350 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.65; 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 88 # Segment length 111.521942 meters # Minimum depth: 1438.058257 meters looking forward 100.000000 meters along route # Maximum depth: 1439.853921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.058257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736065; longitude = -122.105068; duration = 223; initialDepth = 1380.319414; finalDepth = 1388.058257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1192799999999 # Actual altitude: 54.1192799999999 # Commanded vehicle depth: 1388.058257 # Seafloor depth: -1439.853921 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.65; 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 88 # Segment length 111.521710 meters # Minimum depth: 1430.319414 meters looking forward 100.000000 meters along route # Maximum depth: 1436.418034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.319414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736966; longitude = -122.104515; duration = 223; initialDepth = 1376.137889; finalDepth = 1380.319414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.09862 # Actual altitude: 56.09862 # Commanded vehicle depth: 1380.319414 # Seafloor depth: -1436.418034 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.44; 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 88 # Segment length 111.521479 meters # Minimum depth: 1426.137889 meters looking forward 100.000000 meters along route # Maximum depth: 1428.823318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.137889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737867; longitude = -122.103962; duration = 223; initialDepth = 1372.782823; finalDepth = 1376.137889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.09862 # Actual altitude: 56.09862 # Commanded vehicle depth: 1376.137889 # Seafloor depth: -1428.823318 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.44; 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 88 # Segment length 111.521248 meters # Minimum depth: 1422.782823 meters looking forward 100.000000 meters along route # Maximum depth: 1426.276377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.782823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738768; longitude = -122.103408; duration = 223; initialDepth = 1359.537464; finalDepth = 1372.782823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4935539999999 # Actual altitude: 53.4935539999999 # Commanded vehicle depth: 1372.782823 # Seafloor depth: -1426.276377 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; 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 88 # Segment length 111.521016 meters # Minimum depth: 1409.537464 meters looking forward 100.000000 meters along route # Maximum depth: 1419.553932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.537464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739670; longitude = -122.102855; duration = 223; initialDepth = 1347.389853; finalDepth = 1359.537464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.016468 # Actual altitude: 60.016468 # Commanded vehicle depth: 1359.537464 # Seafloor depth: -1419.553932 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.01; 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 88 # Segment length 111.520784 meters # Minimum depth: 1397.389853 meters looking forward 100.000000 meters along route # Maximum depth: 1407.213581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1347.389853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740571; longitude = -122.102302; duration = 223; initialDepth = 1337.826886; finalDepth = 1347.389853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.016468 # Actual altitude: 60.016468 # Commanded vehicle depth: 1347.389853 # Seafloor depth: -1407.213581 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.01; 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 88 # Segment length 111.520553 meters # Minimum depth: 1387.826886 meters looking forward 100.000000 meters along route # Maximum depth: 1394.743302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.826886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741472; longitude = -122.101749; duration = 223; initialDepth = 1336.159794; finalDepth = 1337.826886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8237280000001 # Actual altitude: 59.8237280000001 # Commanded vehicle depth: 1337.826886 # Seafloor depth: -1394.743302 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; 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 88 # Segment length 111.520322 meters # Minimum depth: 1386.159794 meters looking forward 100.000000 meters along route # Maximum depth: 1387.534826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1336.159794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742374; longitude = -122.101196; duration = 223; initialDepth = 1334.453972; finalDepth = 1336.159794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.916416 # Actual altitude: 56.916416 # Commanded vehicle depth: 1336.159794 # Seafloor depth: -1387.534826 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.77; 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 88 # Segment length 111.520090 meters # Minimum depth: 1384.453972 meters looking forward 100.000000 meters along route # Maximum depth: 1388.259608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.453972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743275; longitude = -122.100643; duration = 223; initialDepth = 1323.745977; finalDepth = 1334.453972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3762649999999 # Actual altitude: 52.3762649999999 # Commanded vehicle depth: 1334.453972 # Seafloor depth: -1386.830237 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.95; 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 88 # Segment length 111.519859 meters # Minimum depth: 1373.745977 meters looking forward 100.000000 meters along route # Maximum depth: 1381.761355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.745977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744176; longitude = -122.100090; duration = 223; initialDepth = 1318.516503; finalDepth = 1323.745977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0153780000001 # Actual altitude: 58.0153780000001 # Commanded vehicle depth: 1323.745977 # Seafloor depth: -1381.761355 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.21; 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 88 # Segment length 111.519628 meters # Minimum depth: 1368.516503 meters looking forward 100.000000 meters along route # Maximum depth: 1372.085857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.516503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745078; longitude = -122.099537; duration = 223; initialDepth = 1313.513960; finalDepth = 1318.516503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0153780000001 # Actual altitude: 58.0153780000001 # Commanded vehicle depth: 1318.516503 # Seafloor depth: -1372.085857 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.21; 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 88 # Segment length 111.519396 meters # Minimum depth: 1363.513960 meters looking forward 100.000000 meters along route # Maximum depth: 1367.431155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.513960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745979; longitude = -122.098983; duration = 223; initialDepth = 1304.917232; finalDepth = 1313.513960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.917195 # Actual altitude: 53.917195 # Commanded vehicle depth: 1313.51396 # Seafloor depth: -1367.431155 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; 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 88 # Segment length 111.519164 meters # Minimum depth: 1354.917232 meters looking forward 100.000000 meters along route # Maximum depth: 1362.486814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.917232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746880; longitude = -122.098430; duration = 223; initialDepth = 1295.674024; finalDepth = 1304.917232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5695820000001 # Actual altitude: 57.5695820000001 # Commanded vehicle depth: 1304.917232 # Seafloor depth: -1362.486814 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.03; 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 88 # Segment length 111.518934 meters # Minimum depth: 1345.674024 meters looking forward 100.000000 meters along route # Maximum depth: 1353.191253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.674024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747782; longitude = -122.097877; duration = 223; initialDepth = 1295.070462; finalDepth = 1295.674024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5695820000001 # Actual altitude: 57.5695820000001 # Commanded vehicle depth: 1295.674024 # Seafloor depth: -1353.191253 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.03; 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 88 # Segment length 111.518701 meters # Minimum depth: 1345.070462 meters looking forward 100.000000 meters along route # Maximum depth: 1352.911089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.070462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748683; longitude = -122.097324; duration = 223; initialDepth = 1304.687896; finalDepth = 1295.070462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.517229 # Actual altitude: 57.517229 # Commanded vehicle depth: 1295.070462 # Seafloor depth: -1345.106661 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.01; 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 88 # Segment length 111.518471 meters # Minimum depth: 1354.687896 meters looking forward 100.000000 meters along route # Maximum depth: 1360.829911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.687896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749584; longitude = -122.096771; duration = 223; initialDepth = 1277.641424; finalDepth = 1304.687896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0361990000001 # Actual altitude: 50.0361990000001 # Commanded vehicle depth: 1304.687896 # Seafloor depth: -1354.687896 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; 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 88 # Segment length 111.518239 meters # Minimum depth: 1327.641424 meters looking forward 100.000000 meters along route # Maximum depth: 1357.068020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.641424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750486; longitude = -122.096218; duration = 223; initialDepth = 1265.447534; finalDepth = 1277.641424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.426596 # Actual altitude: 79.426596 # Commanded vehicle depth: 1277.641424 # Seafloor depth: -1357.068020 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.77; 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 88 # Segment length 111.518007 meters # Minimum depth: 1315.447534 meters looking forward 100.000000 meters along route # Maximum depth: 1323.871273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.447534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751387; longitude = -122.095665; duration = 223; initialDepth = 1249.139095; finalDepth = 1265.447534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.426596 # Actual altitude: 79.426596 # Commanded vehicle depth: 1265.447534 # Seafloor depth: -1323.871273 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.77; 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 88 # Segment length 111.517777 meters # Minimum depth: 1299.139095 meters looking forward 100.000000 meters along route # Maximum depth: 1315.393693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.139095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752288; longitude = -122.095111; duration = 223; initialDepth = 1230.251125; finalDepth = 1249.139095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.254598 # Actual altitude: 66.254598 # Commanded vehicle depth: 1249.139095 # Seafloor depth: -1315.393693 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.50; 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 88 # Segment length 111.517545 meters # Minimum depth: 1280.251125 meters looking forward 100.000000 meters along route # Maximum depth: 1296.010489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.251125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753190; longitude = -122.094558; duration = 223; initialDepth = 1216.515014; finalDepth = 1230.251125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.254598 # Actual altitude: 66.254598 # Commanded vehicle depth: 1230.251125 # Seafloor depth: -1296.010489 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.50; 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 88 # Segment length 111.517313 meters # Minimum depth: 1266.515014 meters looking forward 100.000000 meters along route # Maximum depth: 1276.924455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.515014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754091; longitude = -122.094005; duration = 223; initialDepth = 1195.428024; finalDepth = 1216.515014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.759364 # Actual altitude: 65.759364 # Commanded vehicle depth: 1216.515014 # Seafloor depth: -1276.924455 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.30; 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 88 # Segment length 111.517082 meters # Minimum depth: 1245.428024 meters looking forward 100.000000 meters along route # Maximum depth: 1264.516002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.428024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754992; longitude = -122.093452; duration = 223; initialDepth = 1167.425010; finalDepth = 1195.428024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.087978 # Actual altitude: 69.087978 # Commanded vehicle depth: 1195.428024 # Seafloor depth: -1264.516002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.64; 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 88 # Segment length 111.516851 meters # Minimum depth: 1217.425010 meters looking forward 100.000000 meters along route # Maximum depth: 1242.229882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.425010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755893; longitude = -122.092899; duration = 223; initialDepth = 1149.154148; finalDepth = 1167.425010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8048720000002 # Actual altitude: 74.8048720000002 # Commanded vehicle depth: 1167.42501 # Seafloor depth: -1242.229882 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.92; 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 88 # Segment length 111.516619 meters # Minimum depth: 1199.154148 meters looking forward 100.000000 meters along route # Maximum depth: 1214.326816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.154148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756795; longitude = -122.092346; duration = 223; initialDepth = 1136.756971; finalDepth = 1149.154148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8048720000002 # Actual altitude: 74.8048720000002 # Commanded vehicle depth: 1149.154148 # Seafloor depth: -1214.326816 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.92; 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 88 # Segment length 111.516388 meters # Minimum depth: 1186.756971 meters looking forward 100.000000 meters along route # Maximum depth: 1197.331170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.756971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757696; longitude = -122.091793; duration = 223; initialDepth = 1131.388623; finalDepth = 1136.756971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1726679999999 # Actual altitude: 65.1726679999999 # Commanded vehicle depth: 1136.756971 # Seafloor depth: -1197.331170 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.07; 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 88 # Segment length 111.516157 meters # Minimum depth: 1181.388623 meters looking forward 100.000000 meters along route # Maximum depth: 1185.414752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.388623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758597; longitude = -122.091240; duration = 223; initialDepth = 1128.226378; finalDepth = 1131.388623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5741989999999 # Actual altitude: 60.5741989999999 # Commanded vehicle depth: 1131.388623 # Seafloor depth: -1185.414752 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.23; 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 88 # Segment length 111.515925 meters # Minimum depth: 1178.226378 meters looking forward 100.000000 meters along route # Maximum depth: 1185.822658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.226378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759499; longitude = -122.090686; duration = 223; initialDepth = 1121.501453; finalDepth = 1128.226378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.59628 # Actual altitude: 57.59628 # Commanded vehicle depth: 1128.226378 # Seafloor depth: -1185.822658 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.04; 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 88 # Segment length 111.515694 meters # Minimum depth: 1171.501453 meters looking forward 100.000000 meters along route # Maximum depth: 1178.914835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.501453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760400; longitude = -122.090133; duration = 223; initialDepth = 1111.731605; finalDepth = 1121.501453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.59628 # Actual altitude: 57.59628 # Commanded vehicle depth: 1121.501453 # Seafloor depth: -1178.914835 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.04; 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 88 # Segment length 111.515463 meters # Minimum depth: 1161.731605 meters looking forward 100.000000 meters along route # Maximum depth: 1171.461153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.731605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761301; longitude = -122.089580; duration = 223; initialDepth = 1101.158252; finalDepth = 1111.731605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.729548 # Actual altitude: 59.729548 # Commanded vehicle depth: 1111.731605 # Seafloor depth: -1171.461153 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.89; 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 88 # Segment length 100.004217 meters # Minimum depth: 1151.158252 meters looking forward 100.000000 meters along route # Maximum depth: 1160.640954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.158252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762203; longitude = -122.089027; duration = 200; initialDepth = 1093.669419; finalDepth = 1101.158252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.729548 # Actual altitude: 59.729548 # Commanded vehicle depth: 1101.158252 # Seafloor depth: -1160.640954 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.89; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 101.793166 meters # Minimum depth: 1143.669419 meters looking forward 100.000000 meters along route # Maximum depth: 1150.482147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.669419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763011; longitude = -122.088531; duration = 203; # abortOnTimeout = True; initialDepth = 1093.733433; finalDepth = 1093.669419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.482702 # Actual altitude: 59.482702 # Commanded vehicle depth: 1093.669419 # Seafloor depth: -1150.482147 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.79; 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 87 # Segment length 123.422434 meters # Minimum depth: 1143.733433 meters looking forward 100.000000 meters along route # Maximum depth: 1151.845162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.733433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763780; longitude = -122.089153; duration = 246; initialDepth = 1102.226026; finalDepth = 1093.733433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8127279999999 # Actual altitude: 56.8127279999999 # Commanded vehicle depth: 1093.733433 # Seafloor depth: -1143.733433 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.73; 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 87 # Segment length 115.184737 meters # Minimum depth: 1152.226026 meters looking forward 100.000000 meters along route # Maximum depth: 1155.461636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.226026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764712; longitude = -122.089907; duration = 230; initialDepth = 1091.937008; finalDepth = 1102.226026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1102.226026 # Seafloor depth: -1152.226026 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 87 # Segment length 119.302958 meters # Minimum depth: 1141.937008 meters looking forward 100.000000 meters along route # Maximum depth: 1152.762863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.937008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765583; longitude = -122.090611; duration = 238; initialDepth = 1082.135055; finalDepth = 1091.937008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8258549999998 # Actual altitude: 60.8258549999998 # Commanded vehicle depth: 1091.937008 # Seafloor depth: -1152.762863 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.33; 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 87 # Segment length 119.302539 meters # Minimum depth: 1132.135055 meters looking forward 100.000000 meters along route # Maximum depth: 1141.226400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.135055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766484; longitude = -122.091340; duration = 238; initialDepth = 1069.392549; finalDepth = 1082.135055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8258549999998 # Actual altitude: 60.8258549999998 # Commanded vehicle depth: 1082.135055 # Seafloor depth: -1141.226400 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.33; 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 87 # Segment length 101.488953 meters # Minimum depth: 1119.392549 meters looking forward 100.000000 meters along route # Maximum depth: 1128.919989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.392549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767385; longitude = -122.092070; duration = 202; initialDepth = 1038.689226; finalDepth = 1069.392549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5274400000001 # Actual altitude: 59.5274400000001 # Commanded vehicle depth: 1069.392549 # Seafloor depth: -1128.919989 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.81; 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 87 # Segment length 107.289484 meters # Minimum depth: 1088.689226 meters looking forward 100.000000 meters along route # Maximum depth: 1117.934550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.689226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768152; longitude = -122.092690; duration = 214; initialDepth = 983.594650; finalDepth = 1038.689226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.245324 # Actual altitude: 79.245324 # Commanded vehicle depth: 1038.689226 # Seafloor depth: -1117.934550 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.70; 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 87 # Segment length 120.347824 meters # Minimum depth: 1033.594650 meters looking forward 100.000000 meters along route # Maximum depth: 1082.182212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.594650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768963; longitude = -122.093346; duration = 240; initialDepth = 946.513724; finalDepth = 983.594650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.5875619999999 # Actual altitude: 98.5875619999999 # Commanded vehicle depth: 983.59465 # Seafloor depth: -1082.182212 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 39.44; 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 87 # Segment length 117.958588 meters # Minimum depth: 996.513724 meters looking forward 100.000000 meters along route # Maximum depth: 1033.159851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.513724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769872; longitude = -122.094081; duration = 235; initialDepth = 943.261169; finalDepth = 946.513724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 98.5875619999999 # Actual altitude: 98.5875619999999 # Commanded vehicle depth: 946.513724 # Seafloor depth: -1033.159851 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 39.44; 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 86 # Segment length 138.848770 meters # Minimum depth: 993.261169 meters looking forward 100.000000 meters along route # Maximum depth: 1028.692252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.261169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770763; longitude = -122.094802; duration = 277; # abortOnTimeout = True; initialDepth = 990.466216; finalDepth = 943.261169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6461269999999 # Actual altitude: 86.6461269999999 # Commanded vehicle depth: 943.261169 # Seafloor depth: -993.261169 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.66; 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 86 # Segment length 124.172932 meters # Minimum depth: 1040.466216 meters looking forward 100.000000 meters along route # Maximum depth: 1073.779606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.466216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770750; longitude = -122.093246; duration = 248; initialDepth = 1020.240307; finalDepth = 990.466216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.466216 # Seafloor depth: -1040.466216 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 86 # Segment length 124.172981 meters # Minimum depth: 1070.240307 meters looking forward 100.000000 meters along route # Maximum depth: 1072.999808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.240307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770739; longitude = -122.091855; duration = 248; initialDepth = 1012.659799; finalDepth = 1020.240307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.759501 # Actual altitude: 52.759501 # Commanded vehicle depth: 1020.240307 # Seafloor depth: -1072.999808 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.10; 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 86 # Segment length 124.173029 meters # Minimum depth: 1062.659799 meters looking forward 100.000000 meters along route # Maximum depth: 1068.717895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.659799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770728; longitude = -122.090464; duration = 248; initialDepth = 1013.909957; finalDepth = 1012.659799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.058096 # Actual altitude: 56.058096 # Commanded vehicle depth: 1012.659799 # Seafloor depth: -1068.717895 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.42; 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 86 # Segment length 124.173079 meters # Minimum depth: 1063.909957 meters looking forward 100.000000 meters along route # Maximum depth: 1072.298245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.909957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770716; longitude = -122.089073; duration = 248; initialDepth = 1021.266461; finalDepth = 1013.909957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.058096 # Actual altitude: 56.058096 # Commanded vehicle depth: 1013.909957 # Seafloor depth: -1063.909957 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.42; 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 86 # Segment length 124.173128 meters # Minimum depth: 1071.266461 meters looking forward 100.000000 meters along route # Maximum depth: 1072.868913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.266461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770705; longitude = -122.087681; duration = 248; initialDepth = 1011.462788; finalDepth = 1021.266461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.297413 # Actual altitude: 51.297413 # Commanded vehicle depth: 1021.266461 # Seafloor depth: -1072.563874 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 86 # Segment length 124.173178 meters # Minimum depth: 1061.462788 meters looking forward 100.000000 meters along route # Maximum depth: 1070.066270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.462788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770694; longitude = -122.086290; duration = 248; initialDepth = 987.924681; finalDepth = 1011.462788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.603482 # Actual altitude: 58.603482 # Commanded vehicle depth: 1011.462788 # Seafloor depth: -1070.066270 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.44; 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 86 # Segment length 105.675565 meters # Minimum depth: 1037.924681 meters looking forward 100.000000 meters along route # Maximum depth: 1057.795193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.924681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770683; longitude = -122.084899; duration = 211; initialDepth = 964.078549; finalDepth = 987.924681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.870512 # Actual altitude: 69.870512 # Commanded vehicle depth: 987.924681 # Seafloor depth: -1057.795193 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.95; 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 85 # Segment length 95.770137 meters # Minimum depth: 1014.078549 meters looking forward 100.000000 meters along route # Maximum depth: 1035.282166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.078549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770673; longitude = -122.083715; duration = 191; # abortOnTimeout = True; initialDepth = 923.545253; finalDepth = 964.078549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.203617 # Actual altitude: 71.203617 # Commanded vehicle depth: 964.078549 # Seafloor depth: -1035.282166 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.48; 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 85 # Segment length 105.685633 meters # Minimum depth: 973.545253 meters looking forward 100.000000 meters along route # Maximum depth: 1009.682889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.545253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771216; longitude = -122.082881; duration = 211; initialDepth = 907.487524; finalDepth = 923.545253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.137636 # Actual altitude: 86.137636 # Commanded vehicle depth: 923.545253 # Seafloor depth: -1009.682889 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.46; 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 84 # Segment length 167.598299 meters # Minimum depth: 957.487524 meters looking forward 100.000000 meters along route # Maximum depth: 968.846741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.487524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771815; longitude = -122.081960; duration = 335; # abortOnTimeout = True; initialDepth = 889.578388; finalDepth = 907.487524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.137636 # Actual altitude: 86.137636 # Commanded vehicle depth: 907.487524 # Seafloor depth: -968.846741 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.46; 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 83 # Segment length 162.415416 meters # Minimum depth: 939.578388 meters looking forward 100.000000 meters along route # Maximum depth: 958.987732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.578388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773257; longitude = -122.081400; duration = 324; # abortOnTimeout = True; initialDepth = 889.124069; finalDepth = 889.578388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.409344 # Actual altitude: 69.409344 # Commanded vehicle depth: 889.578388 # Seafloor depth: -958.987732 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.76; 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 82 # Segment length 102.745142 meters # Minimum depth: 939.124069 meters looking forward 100.000000 meters along route # Maximum depth: 945.149246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.124069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774640; longitude = -122.080803; duration = 205; # abortOnTimeout = True; initialDepth = 875.787795; finalDepth = 889.124069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.409344 # Actual altitude: 69.409344 # Commanded vehicle depth: 889.124069 # Seafloor depth: -945.149246 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.76; 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 82 # Segment length 102.314364 meters # Minimum depth: 925.787795 meters looking forward 100.000000 meters along route # Maximum depth: 936.723208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.787795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775272; longitude = -122.079961; duration = 204; initialDepth = 871.283770; finalDepth = 875.787795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.935413 # Actual altitude: 60.935413 # Commanded vehicle depth: 875.787795 # Seafloor depth: -936.723208 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.37; 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 81 # Segment length 98.780657 meters # Minimum depth: 921.283770 meters looking forward 100.000000 meters along route # Maximum depth: 926.293564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.283770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775901; longitude = -122.079123; duration = 197; # abortOnTimeout = True; initialDepth = 845.663429; finalDepth = 871.283770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.935413 # Actual altitude: 60.935413 # Commanded vehicle depth: 871.28377 # Seafloor depth: -925.127151 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.37; 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 81 # Segment length 125.787298 meters # Minimum depth: 895.663429 meters looking forward 100.000000 meters along route # Maximum depth: 921.507941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.663429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776417; longitude = -122.078221; duration = 251; initialDepth = 823.203391; finalDepth = 845.663429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.844512 # Actual altitude: 75.844512 # Commanded vehicle depth: 845.663429 # Seafloor depth: -921.507941 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.34; 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 81 # Segment length 114.735157 meters # Minimum depth: 873.203391 meters looking forward 100.000000 meters along route # Maximum depth: 894.788260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.203391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777074; longitude = -122.077073; duration = 229; initialDepth = 813.071764; finalDepth = 823.203391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.844512 # Actual altitude: 75.844512 # Commanded vehicle depth: 823.203391 # Seafloor depth: -894.788260 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.34; 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 80 # Segment length 117.996864 meters # Minimum depth: 863.071764 meters looking forward 100.000000 meters along route # Maximum depth: 872.847321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.071764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777674; longitude = -122.076025; duration = 235; # abortOnTimeout = True; initialDepth = 780.954830; finalDepth = 813.071764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.584869 # Actual altitude: 71.584869 # Commanded vehicle depth: 813.071764 # Seafloor depth: -872.847321 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.63; 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 80 # Segment length 122.407842 meters # Minimum depth: 830.954830 meters looking forward 100.000000 meters along route # Maximum depth: 861.887587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.954830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778426; longitude = -122.075090; duration = 244; initialDepth = 750.371887; finalDepth = 780.954830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.932757 # Actual altitude: 80.932757 # Commanded vehicle depth: 780.95483 # Seafloor depth: -861.887587 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.37; 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 79 # Segment length 117.919175 meters # Minimum depth: 800.371887 meters looking forward 100.000000 meters along route # Maximum depth: 828.443069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.371887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779207; longitude = -122.074121; duration = 235; # abortOnTimeout = True; initialDepth = 730.898423; finalDepth = 750.371887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.932757 # Actual altitude: 80.932757 # Commanded vehicle depth: 750.371887 # Seafloor depth: -828.443069 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.37; 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 79 # Segment length 100.481799 meters # Minimum depth: 780.898423 meters looking forward 100.000000 meters along route # Maximum depth: 799.787730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.898423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780229; longitude = -122.073758; duration = 200; initialDepth = 723.941177; finalDepth = 730.898423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.071182 # Actual altitude: 78.071182 # Commanded vehicle depth: 730.898423 # Seafloor depth: -799.787730 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.23; 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 78 # Segment length 86.395778 meters # Minimum depth: 773.941177 meters looking forward 100.000000 meters along route # Maximum depth: 779.847513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.941177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781100; longitude = -122.073449; duration = 172; # abortOnTimeout = True; initialDepth = 715.579537; finalDepth = 723.941177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.889307 # Actual altitude: 68.889307 # Commanded vehicle depth: 723.941177 # Seafloor depth: -773.941177 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.56; 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 78 # Segment length 110.238752 meters # Minimum depth: 765.579537 meters looking forward 100.000000 meters along route # Maximum depth: 778.956850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.579537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781806; longitude = -122.073857; duration = 220; initialDepth = 711.747940; finalDepth = 715.579537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3773130000001 # Actual altitude: 63.3773130000001 # Commanded vehicle depth: 715.579537 # Seafloor depth: -778.956850 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.35; 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 78 # Segment length 111.949645 meters # Minimum depth: 761.747940 meters looking forward 100.000000 meters along route # Maximum depth: 782.335780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.747940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782708; longitude = -122.074377; duration = 223; initialDepth = 695.679522; finalDepth = 711.747940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.3773130000001 # Actual altitude: 63.3773130000001 # Commanded vehicle depth: 711.74794 # Seafloor depth: -763.303646 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.35; 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 77 # Segment length 176.031888 meters # Minimum depth: 745.679522 meters looking forward 100.000000 meters along route # Maximum depth: 784.518417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.679522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783623; longitude = -122.074905; duration = 352; # abortOnTimeout = True; initialDepth = 690.705080; finalDepth = 695.679522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.838895 # Actual altitude: 88.838895 # Commanded vehicle depth: 695.679522 # Seafloor depth: -784.518417 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.54; 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 77 # Segment length 102.054941 meters # Minimum depth: 740.705080 meters looking forward 100.000000 meters along route # Maximum depth: 749.070229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.705080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785186; longitude = -122.075243; duration = 204; initialDepth = 676.077201; finalDepth = 690.705080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.838895 # Actual altitude: 88.838895 # Commanded vehicle depth: 690.70508 # Seafloor depth: -741.405966 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.54; 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 77 # Segment length 100.924640 meters # Minimum depth: 726.077201 meters looking forward 100.000000 meters along route # Maximum depth: 748.525526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.077201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786093; longitude = -122.075439; duration = 201; initialDepth = 651.014060; finalDepth = 676.077201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4483250000001 # Actual altitude: 72.4483250000001 # Commanded vehicle depth: 676.077201 # Seafloor depth: -748.525526 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.98; 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 77 # Segment length 101.489755 meters # Minimum depth: 701.014060 meters looking forward 100.000000 meters along route # Maximum depth: 720.213783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.014060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786989; longitude = -122.075632; duration = 202; initialDepth = 641.222602; finalDepth = 651.014060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4483250000001 # Actual altitude: 72.4483250000001 # Commanded vehicle depth: 651.01406 # Seafloor depth: -720.213783 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.98; 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 77 # Segment length 101.489731 meters # Minimum depth: 691.222602 meters looking forward 100.000000 meters along route # Maximum depth: 696.391047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.222602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787890; longitude = -122.075827; duration = 202; initialDepth = 641.950069; finalDepth = 641.222602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1997230000001 # Actual altitude: 69.1997230000001 # Commanded vehicle depth: 641.222602 # Seafloor depth: -695.525330 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.68; 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 77 # Segment length 118.390891 meters # Minimum depth: 691.950069 meters looking forward 100.000000 meters along route # Maximum depth: 703.152574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.950069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788792; longitude = -122.076022; duration = 236; initialDepth = 637.566360; finalDepth = 641.950069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.1595160000001 # Actual altitude: 56.1595160000001 # Commanded vehicle depth: 641.950069 # Seafloor depth: -698.109585 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.46; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 137.939443 meters # Minimum depth: 687.566360 meters looking forward 100.000000 meters along route # Maximum depth: 721.947402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.566360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789843; longitude = -122.076249; duration = 275; # abortOnTimeout = True; initialDepth = 672.708329; finalDepth = 637.566360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1595160000001 # Actual altitude: 56.1595160000001 # Commanded vehicle depth: 637.56636 # Seafloor depth: -687.566360 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.46; 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 76 # Segment length 112.876835 meters # Minimum depth: 722.708329 meters looking forward 100.000000 meters along route # Maximum depth: 761.470735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.708329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789017; longitude = -122.077404; duration = 225; initialDepth = 716.598316; finalDepth = 672.708329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 672.708329 # Seafloor depth: -722.708329 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 76 # Segment length 117.500703 meters # Minimum depth: 766.598316 meters looking forward 100.000000 meters along route # Maximum depth: 801.454154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.598316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788341; longitude = -122.078350; duration = 235; initialDepth = 752.698577; finalDepth = 716.598316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.598316 # Seafloor depth: -766.598316 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 76 # Segment length 108.254554 meters # Minimum depth: 802.698577 meters looking forward 100.000000 meters along route # Maximum depth: 810.819030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.698577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787637; longitude = -122.079334; duration = 216; initialDepth = 745.264309; finalDepth = 752.698577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 752.698577 # Seafloor depth: -802.698577 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 76 # Segment length 124.280276 meters # Minimum depth: 795.264309 meters looking forward 100.000000 meters along route # Maximum depth: 806.358780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.264309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786989; longitude = -122.080241; duration = 248; initialDepth = 717.169431; finalDepth = 745.264309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2462419999999 # Actual altitude: 60.2462419999999 # Commanded vehicle depth: 745.264309 # Seafloor depth: -805.510551 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.10; 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 76 # Segment length 116.668320 meters # Minimum depth: 767.169431 meters looking forward 100.000000 meters along route # Maximum depth: 792.490806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.169431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786245; longitude = -122.081282; duration = 233; initialDepth = 687.403162; finalDepth = 717.169431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.321375 # Actual altitude: 75.321375 # Commanded vehicle depth: 717.169431 # Seafloor depth: -792.490806 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.13; 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 75 # Segment length 147.950087 meters # Minimum depth: 737.403162 meters looking forward 100.000000 meters along route # Maximum depth: 765.705887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.403162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785546; longitude = -122.082259; duration = 295; # abortOnTimeout = True; initialDepth = 688.584479; finalDepth = 687.403162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.302725 # Actual altitude: 78.302725 # Commanded vehicle depth: 687.403162 # Seafloor depth: -765.705887 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.32; 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 75 # Segment length 123.420617 meters # Minimum depth: 738.584479 meters looking forward 100.000000 meters along route # Maximum depth: 779.953172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.584479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784736; longitude = -122.083576; duration = 246; initialDepth = 732.153423; finalDepth = 688.584479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.302725 # Actual altitude: 78.302725 # Commanded vehicle depth: 688.584479 # Seafloor depth: -738.584479 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.32; 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 75 # Segment length 123.421271 meters # Minimum depth: 782.153423 meters looking forward 100.000000 meters along route # Maximum depth: 806.573557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.153423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784060; longitude = -122.084674; duration = 246; initialDepth = 753.673784; finalDepth = 732.153423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.153423 # Seafloor depth: -782.153423 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 75 # Segment length 123.421926 meters # Minimum depth: 803.673784 meters looking forward 100.000000 meters along route # Maximum depth: 813.169660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.673784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783384; longitude = -122.085773; duration = 246; initialDepth = 763.716287; finalDepth = 753.673784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.679018 # Actual altitude: 51.679018 # Commanded vehicle depth: 753.673784 # Seafloor depth: -805.352802 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.67; 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 75 # Segment length 123.551156 meters # Minimum depth: 813.716287 meters looking forward 100.000000 meters along route # Maximum depth: 825.126731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.716287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782708; longitude = -122.086871; duration = 247; initialDepth = 725.924597; finalDepth = 763.716287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.679018 # Actual altitude: 51.679018 # Commanded vehicle depth: 763.716287 # Seafloor depth: -813.716287 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.67; 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 74 # Segment length 105.764762 meters # Minimum depth: 775.924597 meters looking forward 100.000000 meters along route # Maximum depth: 811.031570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.924597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782031; longitude = -122.087971; duration = 211; # abortOnTimeout = True; initialDepth = 725.587722; finalDepth = 725.924597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.106973 # Actual altitude: 85.106973 # Commanded vehicle depth: 725.924597 # Seafloor depth: -811.031570 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.04; 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 74 # Segment length 102.655632 meters # Minimum depth: 775.587722 meters looking forward 100.000000 meters along route # Maximum depth: 790.764166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.587722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781345; longitude = -122.088794; duration = 205; initialDepth = 749.375262; finalDepth = 725.587722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.106973 # Actual altitude: 85.106973 # Commanded vehicle depth: 725.587722 # Seafloor depth: -775.587722 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.04; 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 74 # Segment length 104.265137 meters # Minimum depth: 799.375262 meters looking forward 100.000000 meters along route # Maximum depth: 807.072763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.375262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780680; longitude = -122.089594; duration = 208; initialDepth = 762.566780; finalDepth = 749.375262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 749.375262 # Seafloor depth: -799.375262 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 74 # Segment length 104.381518 meters # Minimum depth: 812.566780 meters looking forward 100.000000 meters along route # Maximum depth: 831.018325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.566780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780004; longitude = -122.090405; duration = 208; initialDepth = 781.018325; finalDepth = 762.566780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 762.56678 # Seafloor depth: -812.566780 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 73 # Segment length 78.430600 meters # Minimum depth: 831.018325 meters looking forward 100.000000 meters along route # Maximum depth: 837.420887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.018325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779327; longitude = -122.091218; duration = 156; # abortOnTimeout = True; initialDepth = 772.338028; finalDepth = 781.018325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.700028 # Actual altitude: 53.700028 # Commanded vehicle depth: 781.018325 # Seafloor depth: -834.718353 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.48; 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 73 # Segment length 104.690642 meters # Minimum depth: 822.338028 meters looking forward 100.000000 meters along route # Maximum depth: 836.273676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.338028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778652; longitude = -122.091478; duration = 209; initialDepth = 767.856037; finalDepth = 772.338028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.935648 # Actual altitude: 63.935648 # Commanded vehicle depth: 772.338028 # Seafloor depth: -836.273676 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.57; 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 73 # Segment length 104.690729 meters # Minimum depth: 817.856037 meters looking forward 100.000000 meters along route # Maximum depth: 825.155002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.856037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777750; longitude = -122.091826; duration = 209; initialDepth = 776.495929; finalDepth = 767.856037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.935648 # Actual altitude: 63.935648 # Commanded vehicle depth: 767.856037 # Seafloor depth: -817.856037 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.57; 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 73 # Segment length 104.690816 meters # Minimum depth: 826.495929 meters looking forward 100.000000 meters along route # Maximum depth: 838.381322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.495929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776849; longitude = -122.092174; duration = 209; initialDepth = 795.098394; finalDepth = 776.495929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 776.495929 # Seafloor depth: -826.495929 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 73 # Segment length 104.690902 meters # Minimum depth: 845.098394 meters looking forward 100.000000 meters along route # Maximum depth: 871.912832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.098394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775948; longitude = -122.092521; duration = 209; initialDepth = 832.402892; finalDepth = 795.098394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.098394 # Seafloor depth: -845.098394 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 73 # Segment length 110.054529 meters # Minimum depth: 882.402892 meters looking forward 100.000000 meters along route # Maximum depth: 925.572780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.402892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775046; longitude = -122.092869; duration = 220; initialDepth = 874.391251; finalDepth = 832.402892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 832.402892 # Seafloor depth: -882.402892 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 93.563651 meters # Minimum depth: 924.391251 meters looking forward 100.000000 meters along route # Maximum depth: 959.618326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.391251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774099; longitude = -122.093234; duration = 187; # abortOnTimeout = True; initialDepth = 913.884017; finalDepth = 874.391251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 874.391251 # Seafloor depth: -924.391251 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 108.651445 meters # Minimum depth: 963.884017 meters looking forward 100.000000 meters along route # Maximum depth: 983.251394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.884017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773391; longitude = -122.093803; duration = 217; initialDepth = 916.230842; finalDepth = 913.884017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 913.884017 # Seafloor depth: -963.884017 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 120.182449 meters # Minimum depth: 966.230842 meters looking forward 100.000000 meters along route # Maximum depth: 981.862581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.230842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772568; longitude = -122.094463; duration = 240; initialDepth = 917.265520; finalDepth = 916.230842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6317389999999 # Actual altitude: 65.6317389999999 # Commanded vehicle depth: 916.230842 # Seafloor depth: -981.862581 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.25; 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 72 # Segment length 117.891621 meters # Minimum depth: 967.265520 meters looking forward 100.000000 meters along route # Maximum depth: 997.975379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.265520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771658; longitude = -122.095194; duration = 235; initialDepth = 953.861412; finalDepth = 917.265520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6317389999999 # Actual altitude: 65.6317389999999 # Commanded vehicle depth: 917.26552 # Seafloor depth: -967.265520 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.25; 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 72 # Segment length 119.037609 meters # Minimum depth: 1003.861412 meters looking forward 100.000000 meters along route # Maximum depth: 1028.381920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.861412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770765; longitude = -122.095911; duration = 238; initialDepth = 980.491149; finalDepth = 953.861412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 953.861412 # Seafloor depth: -1003.861412 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 129.207941 meters # Minimum depth: 1030.491149 meters looking forward 100.000000 meters along route # Maximum depth: 1050.330383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.491149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769864; longitude = -122.096634; duration = 258; initialDepth = 1000.658605; finalDepth = 980.491149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.491149 # Seafloor depth: -1030.491149 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 108.868425 meters # Minimum depth: 1050.658605 meters looking forward 100.000000 meters along route # Maximum depth: 1071.972549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.658605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768886; longitude = -122.097420; duration = 217; initialDepth = 1025.421097; finalDepth = 1000.658605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.658605 # Seafloor depth: -1050.658605 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 72 # Segment length 111.374081 meters # Minimum depth: 1075.421097 meters looking forward 100.000000 meters along route # Maximum depth: 1092.160745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.421097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768061; longitude = -122.098082; duration = 222; initialDepth = 1044.097107; finalDepth = 1025.421097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1025.421097 # Seafloor depth: -1075.421097 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 166.375615 meters # Minimum depth: 1094.097107 meters looking forward 100.000000 meters along route # Maximum depth: 1137.918197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.097107 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767218; longitude = -122.098759; duration = 332; # abortOnTimeout = True; initialDepth = 1066.528030; finalDepth = 1044.097107; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1044.097107 # Seafloor depth: -1094.097107 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 70 # Segment length 101.669617 meters # Minimum depth: 1116.528030 meters looking forward 100.000000 meters along route # Maximum depth: 1137.977783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.528030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766407; longitude = -122.097191; duration = 203; # abortOnTimeout = True; initialDepth = 1040.218577; finalDepth = 1066.528030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4497530000001 # Actual altitude: 71.4497530000001 # Commanded vehicle depth: 1066.52803 # Seafloor depth: -1137.977783 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.58; 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 70 # Segment length 115.027800 meters # Minimum depth: 1090.218577 meters looking forward 100.000000 meters along route # Maximum depth: 1115.479740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.218577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767183; longitude = -122.096585; duration = 230; initialDepth = 1010.025504; finalDepth = 1040.218577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2611629999999 # Actual altitude: 75.2611629999999 # Commanded vehicle depth: 1040.218577 # Seafloor depth: -1115.479740 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.10; 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 70 # Segment length 118.491504 meters # Minimum depth: 1060.025504 meters looking forward 100.000000 meters along route # Maximum depth: 1086.257113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.025504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768061; longitude = -122.095900; duration = 236; initialDepth = 984.180749; finalDepth = 1010.025504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2316089999999 # Actual altitude: 76.2316089999999 # Commanded vehicle depth: 1010.025504 # Seafloor depth: -1086.257113 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.49; 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 70 # Segment length 117.637333 meters # Minimum depth: 1034.180749 meters looking forward 100.000000 meters along route # Maximum depth: 1059.896470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.180749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768966; longitude = -122.095194; duration = 235; initialDepth = 963.972455; finalDepth = 984.180749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2316089999999 # Actual altitude: 76.2316089999999 # Commanded vehicle depth: 984.180749 # Seafloor depth: -1059.896470 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.49; 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 70 # Segment length 118.063873 meters # Minimum depth: 1013.972455 meters looking forward 100.000000 meters along route # Maximum depth: 1026.548946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.972455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769864; longitude = -122.094493; duration = 236; initialDepth = 965.486140; finalDepth = 963.972455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7157209999998 # Actual altitude: 75.7157209999998 # Commanded vehicle depth: 963.972455 # Seafloor depth: -1026.548946 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.29; 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 70 # Segment length 118.063510 meters # Minimum depth: 1015.486140 meters looking forward 100.000000 meters along route # Maximum depth: 1032.690311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.486140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770765; longitude = -122.093790; duration = 236; initialDepth = 943.951898; finalDepth = 965.486140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5764909999999 # Actual altitude: 62.5764909999999 # Commanded vehicle depth: 965.48614 # Seafloor depth: -1015.486140 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.03; 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 70 # Segment length 118.063146 meters # Minimum depth: 993.951898 meters looking forward 100.000000 meters along route # Maximum depth: 1029.085830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.951898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771667; longitude = -122.093086; duration = 236; initialDepth = 902.720606; finalDepth = 943.951898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.133932 # Actual altitude: 85.133932 # Commanded vehicle depth: 943.951898 # Seafloor depth: -1029.085830 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.05; 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 70 # Segment length 113.977465 meters # Minimum depth: 952.720606 meters looking forward 100.000000 meters along route # Maximum depth: 992.934598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.720606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772568; longitude = -122.092383; duration = 227; initialDepth = 873.705409; finalDepth = 902.720606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.2139920000001 # Actual altitude: 90.2139920000001 # Commanded vehicle depth: 902.720606 # Seafloor depth: -992.934598 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.09; 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 69 # Segment length 81.284184 meters # Minimum depth: 923.705409 meters looking forward 100.000000 meters along route # Maximum depth: 949.688553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.705409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773438; longitude = -122.091704; duration = 162; # abortOnTimeout = True; initialDepth = 850.156959; finalDepth = 873.705409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.2139920000001 # Actual altitude: 90.2139920000001 # Commanded vehicle depth: 873.705409 # Seafloor depth: -949.688553 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.09; 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 69 # Segment length 103.599070 meters # Minimum depth: 900.156959 meters looking forward 100.000000 meters along route # Maximum depth: 918.982270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.156959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774145; longitude = -122.091466; duration = 207; initialDepth = 846.534701; finalDepth = 850.156959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9831439999999 # Actual altitude: 75.9831439999999 # Commanded vehicle depth: 850.156959 # Seafloor depth: -918.982270 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.39; 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 69 # Segment length 103.599008 meters # Minimum depth: 896.534701 meters looking forward 100.000000 meters along route # Maximum depth: 897.243515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.534701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775046; longitude = -122.091162; duration = 207; initialDepth = 834.291407; finalDepth = 846.534701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.8253109999999 # Actual altitude: 68.8253109999999 # Commanded vehicle depth: 846.534701 # Seafloor depth: -896.784367 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.53; 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 69 # Segment length 103.598944 meters # Minimum depth: 884.291407 meters looking forward 100.000000 meters along route # Maximum depth: 897.153585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.291407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775948; longitude = -122.090858; duration = 207; initialDepth = 814.653863; finalDepth = 834.291407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.862178 # Actual altitude: 62.862178 # Commanded vehicle depth: 834.291407 # Seafloor depth: -897.153585 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 69 # Segment length 103.598882 meters # Minimum depth: 864.653863 meters looking forward 100.000000 meters along route # Maximum depth: 873.277005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.653863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776849; longitude = -122.090555; duration = 207; initialDepth = 818.040323; finalDepth = 814.653863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.862178 # Actual altitude: 62.862178 # Commanded vehicle depth: 814.653863 # Seafloor depth: -873.277005 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; 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 69 # Segment length 115.579895 meters # Minimum depth: 868.040323 meters looking forward 100.000000 meters along route # Maximum depth: 880.019475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.040323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777750; longitude = -122.090251; duration = 231; initialDepth = 782.908717; finalDepth = 818.040323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.623142 # Actual altitude: 58.623142 # Commanded vehicle depth: 818.040323 # Seafloor depth: -876.522215 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.45; 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 68 # Segment length 160.345701 meters # Minimum depth: 832.908717 meters looking forward 100.000000 meters along route # Maximum depth: 862.247742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.908717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778756; longitude = -122.089912; duration = 320; # abortOnTimeout = True; initialDepth = 749.292402; finalDepth = 782.908717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.339025 # Actual altitude: 79.339025 # Commanded vehicle depth: 782.908717 # Seafloor depth: -862.247742 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.74; 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 68 # Segment length 106.015355 meters # Minimum depth: 799.292402 meters looking forward 100.000000 meters along route # Maximum depth: 828.213132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.292402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779778; longitude = -122.088642; duration = 212; initialDepth = 750.189289; finalDepth = 749.292402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.339025 # Actual altitude: 79.339025 # Commanded vehicle depth: 749.292402 # Seafloor depth: -828.213132 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.74; 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 68 # Segment length 105.954259 meters # Minimum depth: 800.189289 meters looking forward 100.000000 meters along route # Maximum depth: 834.367534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.189289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780454; longitude = -122.087802; duration = 211; initialDepth = 788.273026; finalDepth = 750.189289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.9207299999999 # Actual altitude: 78.9207299999999 # Commanded vehicle depth: 750.189289 # Seafloor depth: -800.189289 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.57; 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 67 # Segment length 81.474411 meters # Minimum depth: 838.273026 meters looking forward 100.000000 meters along route # Maximum depth: 846.173890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.273026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781130; longitude = -122.086963; duration = 162; # abortOnTimeout = True; initialDepth = 787.794606; finalDepth = 788.273026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 788.273026 # Seafloor depth: -838.273026 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 67 # Segment length 122.106294 meters # Minimum depth: 837.794606 meters looking forward 100.000000 meters along route # Maximum depth: 846.163328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.794606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781581; longitude = -122.086242; duration = 244; initialDepth = 743.292239; finalDepth = 787.794606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3687219999999 # Actual altitude: 58.3687219999999 # Commanded vehicle depth: 787.794606 # Seafloor depth: -846.163328 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.35; 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 67 # Segment length 124.196695 meters # Minimum depth: 793.292239 meters looking forward 100.000000 meters along route # Maximum depth: 837.351979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.292239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782257; longitude = -122.085163; duration = 248; initialDepth = 732.036017; finalDepth = 743.292239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.05974 # Actual altitude: 94.05974 # Commanded vehicle depth: 743.292239 # Seafloor depth: -837.351979 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.62; 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 67 # Segment length 128.140624 meters # Minimum depth: 782.036017 meters looking forward 100.000000 meters along route # Maximum depth: 792.403173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.036017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782945; longitude = -122.084064; duration = 256; initialDepth = 733.205322; finalDepth = 732.036017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 94.05974 # Actual altitude: 94.05974 # Commanded vehicle depth: 732.036017 # Seafloor depth: -792.403173 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.62; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 165.603128 meters # Minimum depth: 783.205322 meters looking forward 100.000000 meters along route # Maximum depth: 842.870757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.205322 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783654; longitude = -122.082931; duration = 331; # abortOnTimeout = True; initialDepth = 795.477890; finalDepth = 733.205322; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 60.367156 # Actual altitude: 60.367156 # Commanded vehicle depth: 733.205322 # Seafloor depth: -783.205322 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.15; 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 65 # Segment length 85.890674 meters # Minimum depth: 845.477890 meters looking forward 100.000000 meters along route # Maximum depth: 849.447202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.477890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782301; longitude = -122.082147; duration = 171; # abortOnTimeout = True; initialDepth = 790.981629; finalDepth = 795.477890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.47789 # Seafloor depth: -845.477890 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 65 # Segment length 105.005869 meters # Minimum depth: 840.981629 meters looking forward 100.000000 meters along route # Maximum depth: 844.052315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.981629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781876; longitude = -122.082951; duration = 210; initialDepth = 793.163405; finalDepth = 790.981629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.070686 # Actual altitude: 53.070686 # Commanded vehicle depth: 790.981629 # Seafloor depth: -844.052315 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; 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 65 # Segment length 103.000642 meters # Minimum depth: 843.163405 meters looking forward 100.000000 meters along route # Maximum depth: 863.066902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.163405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781356; longitude = -122.083935; duration = 206; initialDepth = 813.861207; finalDepth = 793.163405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.070686 # Actual altitude: 53.070686 # Commanded vehicle depth: 793.163405 # Seafloor depth: -843.163405 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; 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 65 # Segment length 124.739453 meters # Minimum depth: 863.861207 meters looking forward 100.000000 meters along route # Maximum depth: 870.285931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.861207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780846; longitude = -122.084899; duration = 249; initialDepth = 781.090976; finalDepth = 813.861207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.958711 # Actual altitude: 51.958711 # Commanded vehicle depth: 813.861207 # Seafloor depth: -865.819918 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.78; 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 64 # Segment length 102.926999 meters # Minimum depth: 831.090976 meters looking forward 100.000000 meters along route # Maximum depth: 860.756210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.090976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780228; longitude = -122.086067; duration = 205; # abortOnTimeout = True; initialDepth = 778.172502; finalDepth = 781.090976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6652340000001 # Actual altitude: 79.6652340000001 # Commanded vehicle depth: 781.090976 # Seafloor depth: -860.756210 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.87; 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 64 # Segment length 110.192826 meters # Minimum depth: 828.172502 meters looking forward 100.000000 meters along route # Maximum depth: 840.531001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.172502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779544; longitude = -122.086847; duration = 220; initialDepth = 793.847167; finalDepth = 778.172502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6652340000001 # Actual altitude: 79.6652340000001 # Commanded vehicle depth: 778.172502 # Seafloor depth: -830.885062 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.87; 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 64 # Segment length 117.035105 meters # Minimum depth: 843.847167 meters looking forward 100.000000 meters along route # Maximum depth: 894.519120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.847167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778812; longitude = -122.087681; duration = 234; initialDepth = 844.519120; finalDepth = 793.847167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.7125599999999 # Actual altitude: 52.7125599999999 # Commanded vehicle depth: 793.847167 # Seafloor depth: -843.847167 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.09; 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 63 # Segment length 84.606885 meters # Minimum depth: 894.519120 meters looking forward 100.000000 meters along route # Maximum depth: 918.950812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.519120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778035; longitude = -122.088568; duration = 169; # abortOnTimeout = True; initialDepth = 870.925328; finalDepth = 844.519120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.299041 # Actual altitude: 51.299041 # Commanded vehicle depth: 844.51912 # Seafloor depth: -895.818161 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 63 # Segment length 103.721997 meters # Minimum depth: 920.925328 meters looking forward 100.000000 meters along route # Maximum depth: 930.370204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.925328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777300; longitude = -122.088820; duration = 207; initialDepth = 876.041778; finalDepth = 870.925328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.299041 # Actual altitude: 51.299041 # Commanded vehicle depth: 870.925328 # Seafloor depth: -920.925328 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 63 # Segment length 103.722062 meters # Minimum depth: 926.041778 meters looking forward 100.000000 meters along route # Maximum depth: 938.091501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.041778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776398; longitude = -122.089129; duration = 207; initialDepth = 897.671076; finalDepth = 876.041778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 876.041778 # Seafloor depth: -926.041778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 63 # Segment length 103.722128 meters # Minimum depth: 947.671076 meters looking forward 100.000000 meters along route # Maximum depth: 955.937003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.671076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775497; longitude = -122.089438; duration = 207; initialDepth = 898.518546; finalDepth = 897.671076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 897.671076 # Seafloor depth: -947.671076 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 63 # Segment length 103.722193 meters # Minimum depth: 948.518546 meters looking forward 100.000000 meters along route # Maximum depth: 961.077181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.518546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774596; longitude = -122.089747; duration = 207; initialDepth = 924.510917; finalDepth = 898.518546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.393865 # Actual altitude: 51.393865 # Commanded vehicle depth: 898.518546 # Seafloor depth: -949.912411 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 63 # Segment length 102.134195 meters # Minimum depth: 974.510917 meters looking forward 100.000000 meters along route # Maximum depth: 997.792541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.510917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773695; longitude = -122.090056; duration = 204; initialDepth = 952.236847; finalDepth = 924.510917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.393865 # Actual altitude: 51.393865 # Commanded vehicle depth: 924.510917 # Seafloor depth: -974.510917 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 62 # Segment length 120.567517 meters # Minimum depth: 1002.236847 meters looking forward 100.000000 meters along route # Maximum depth: 1023.910259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.236847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772807; longitude = -122.090360; duration = 241; # abortOnTimeout = True; initialDepth = 979.603338; finalDepth = 952.236847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 952.236847 # Seafloor depth: -1002.236847 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 62 # Segment length 118.749758 meters # Minimum depth: 1029.603338 meters looking forward 100.000000 meters along route # Maximum depth: 1060.031451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.603338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771892; longitude = -122.091089; duration = 237; initialDepth = 1018.511012; finalDepth = 979.603338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.603338 # Seafloor depth: -1029.603338 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 62 # Segment length 100.117168 meters # Minimum depth: 1068.511012 meters looking forward 100.000000 meters along route # Maximum depth: 1078.484175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.511012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770991; longitude = -122.091806; duration = 200; initialDepth = 1025.024058; finalDepth = 1018.511012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1018.511012 # Seafloor depth: -1068.511012 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 62 # Segment length 107.695814 meters # Minimum depth: 1075.024058 meters looking forward 100.000000 meters along route # Maximum depth: 1078.584587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.024058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770231; longitude = -122.092412; duration = 215; initialDepth = 1024.840123; finalDepth = 1025.024058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5605290000001 # Actual altitude: 53.5605290000001 # Commanded vehicle depth: 1025.024058 # Seafloor depth: -1078.584587 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.42; 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 62 # Segment length 122.481675 meters # Minimum depth: 1074.840123 meters looking forward 100.000000 meters along route # Maximum depth: 1099.639787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.840123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769413; longitude = -122.093063; duration = 244; initialDepth = 1050.468374; finalDepth = 1024.840123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5605290000001 # Actual altitude: 53.5605290000001 # Commanded vehicle depth: 1024.840123 # Seafloor depth: -1074.840123 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.42; 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 62 # Segment length 115.020288 meters # Minimum depth: 1100.468374 meters looking forward 100.000000 meters along route # Maximum depth: 1118.286753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.468374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768484; longitude = -122.093803; duration = 230; initialDepth = 1068.849986; finalDepth = 1050.468374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1050.468374 # Seafloor depth: -1100.468374 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 62 # Segment length 118.751547 meters # Minimum depth: 1118.849986 meters looking forward 100.000000 meters along route # Maximum depth: 1129.817190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.849986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767611; longitude = -122.094498; duration = 237; initialDepth = 1080.160407; finalDepth = 1068.849986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1068.849986 # Seafloor depth: -1118.849986 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 62 # Segment length 122.966706 meters # Minimum depth: 1130.160407 meters looking forward 100.000000 meters along route # Maximum depth: 1143.666781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.160407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766709; longitude = -122.095216; duration = 245; initialDepth = 1095.666534; finalDepth = 1080.160407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1080.160407 # Seafloor depth: -1130.160407 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 130.353864 meters # Minimum depth: 1145.666534 meters looking forward 100.000000 meters along route # Maximum depth: 1149.891136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.666534 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765776; longitude = -122.095959; duration = 260; # abortOnTimeout = True; initialDepth = 1084.771160; finalDepth = 1095.666534; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1095.666534 # Seafloor depth: -1145.666534 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 60 # Segment length 117.119143 meters # Minimum depth: 1134.771160 meters looking forward 100.000000 meters along route # Maximum depth: 1149.677277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.771160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765145; longitude = -122.094727; duration = 234; # abortOnTimeout = True; initialDepth = 1078.951527; finalDepth = 1084.771160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.906117 # Actual altitude: 64.906117 # Commanded vehicle depth: 1084.77116 # Seafloor depth: -1149.677277 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.96; 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 60 # Segment length 127.453176 meters # Minimum depth: 1128.951527 meters looking forward 100.000000 meters along route # Maximum depth: 1133.736231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.951527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766033; longitude = -122.094018; duration = 254; initialDepth = 1077.019247; finalDepth = 1078.951527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.906117 # Actual altitude: 64.906117 # Commanded vehicle depth: 1078.951527 # Seafloor depth: -1133.736231 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.96; 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 60 # Segment length 110.211464 meters # Minimum depth: 1127.019247 meters looking forward 100.000000 meters along route # Maximum depth: 1133.418750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.019247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767000; longitude = -122.093246; duration = 220; initialDepth = 1056.583970; finalDepth = 1077.019247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3995030000001 # Actual altitude: 56.3995030000001 # Commanded vehicle depth: 1077.019247 # Seafloor depth: -1133.418750 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.56; 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 60 # Segment length 119.587819 meters # Minimum depth: 1106.583970 meters looking forward 100.000000 meters along route # Maximum depth: 1124.133760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.583970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767836; longitude = -122.092579; duration = 239; initialDepth = 1051.248999; finalDepth = 1056.583970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.54979 # Actual altitude: 67.54979 # Commanded vehicle depth: 1056.58397 # Seafloor depth: -1124.133760 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.02; 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 60 # Segment length 118.075308 meters # Minimum depth: 1101.248999 meters looking forward 100.000000 meters along route # Maximum depth: 1106.573504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.248999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768743; longitude = -122.091855; duration = 236; initialDepth = 1024.539170; finalDepth = 1051.248999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.54979 # Actual altitude: 67.54979 # Commanded vehicle depth: 1051.248999 # Seafloor depth: -1106.573504 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.02; 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 60 # Segment length 118.830996 meters # Minimum depth: 1074.539170 meters looking forward 100.000000 meters along route # Maximum depth: 1097.703942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.539170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769639; longitude = -122.091140; duration = 237; initialDepth = 1000.827873; finalDepth = 1024.539170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1647720000001 # Actual altitude: 73.1647720000001 # Commanded vehicle depth: 1024.53917 # Seafloor depth: -1097.703942 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.27; 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 60 # Segment length 118.830618 meters # Minimum depth: 1050.827873 meters looking forward 100.000000 meters along route # Maximum depth: 1072.198385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.827873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770540; longitude = -122.090421; duration = 237; initialDepth = 993.538397; finalDepth = 1000.827873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1647720000001 # Actual altitude: 73.1647720000001 # Commanded vehicle depth: 1000.827873 # Seafloor depth: -1072.198385 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.27; 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 60 # Segment length 100.828559 meters # Minimum depth: 1043.538397 meters looking forward 100.000000 meters along route # Maximum depth: 1049.617861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.538397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771441; longitude = -122.089701; duration = 201; initialDepth = 959.309039; finalDepth = 993.538397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.370512 # Actual altitude: 71.370512 # Commanded vehicle depth: 993.538397 # Seafloor depth: -1049.617861 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.55; 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 59 # Segment length 170.917699 meters # Minimum depth: 1009.309039 meters looking forward 100.000000 meters along route # Maximum depth: 1041.120667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.309039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772206; longitude = -122.089091; duration = 341; # abortOnTimeout = True; initialDepth = 942.856154; finalDepth = 959.309039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8116279999999 # Actual altitude: 81.8116279999999 # Commanded vehicle depth: 959.309039 # Seafloor depth: -1041.120667 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.72; 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 59 # Segment length 103.492887 meters # Minimum depth: 992.856154 meters looking forward 100.000000 meters along route # Maximum depth: 1004.578840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.856154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773695; longitude = -122.088597; duration = 206; initialDepth = 921.999448; finalDepth = 942.856154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8116279999999 # Actual altitude: 81.8116279999999 # Commanded vehicle depth: 942.856154 # Seafloor depth: -1004.578840 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.72; 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 59 # Segment length 103.492827 meters # Minimum depth: 971.999448 meters looking forward 100.000000 meters along route # Maximum depth: 989.657848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.999448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774596; longitude = -122.088298; duration = 206; initialDepth = 897.617880; finalDepth = 921.999448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6583999999999 # Actual altitude: 67.6583999999999 # Commanded vehicle depth: 921.999448 # Seafloor depth: -989.657848 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.06; 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 59 # Segment length 109.773203 meters # Minimum depth: 947.617880 meters looking forward 100.000000 meters along route # Maximum depth: 965.752893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.617880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775497; longitude = -122.087999; duration = 219; initialDepth = 839.777309; finalDepth = 897.617880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.135013 # Actual altitude: 68.135013 # Commanded vehicle depth: 897.61788 # Seafloor depth: -965.752893 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.25; 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 59 # Segment length 119.512479 meters # Minimum depth: 889.777309 meters looking forward 100.000000 meters along route # Maximum depth: 944.955423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.777309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776453; longitude = -122.087681; duration = 239; initialDepth = 819.337117; finalDepth = 839.777309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 105.178114 # Actual altitude: 100 # Commanded vehicle depth: 839.777309 # Seafloor depth: -944.955423 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 40.00; 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 58 # Segment length 175.699348 meters # Minimum depth: 869.337117 meters looking forward 100.000000 meters along route # Maximum depth: 884.239521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.337117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777494; longitude = -122.087336; duration = 351; # abortOnTimeout = True; initialDepth = 834.969178; finalDepth = 819.337117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.178114 # Actual altitude: 100 # Commanded vehicle depth: 819.337117 # Seafloor depth: -882.250092 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 40.00; 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 58 # Segment length 121.547319 meters # Minimum depth: 884.969178 meters looking forward 100.000000 meters along route # Maximum depth: 916.772704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.969178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778666; longitude = -122.086012; duration = 243; initialDepth = 852.709638; finalDepth = 834.969178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.912975 # Actual altitude: 62.912975 # Commanded vehicle depth: 834.969178 # Seafloor depth: -884.969178 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.17; 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 57 # Segment length 146.446973 meters # Minimum depth: 902.709638 meters looking forward 100.000000 meters along route # Maximum depth: 925.292702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.709638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779477; longitude = -122.085096; duration = 292; # abortOnTimeout = True; initialDepth = 832.155052; finalDepth = 852.709638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1963069999999 # Actual altitude: 68.1963069999999 # Commanded vehicle depth: 852.709638 # Seafloor depth: -920.905945 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.28; 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 57 # Segment length 108.101696 meters # Minimum depth: 882.155052 meters looking forward 100.000000 meters along route # Maximum depth: 900.230840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.155052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780272; longitude = -122.083786; duration = 216; initialDepth = 813.245279; finalDepth = 832.155052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.1963069999999 # Actual altitude: 68.1963069999999 # Commanded vehicle depth: 832.155052 # Seafloor depth: -900.230840 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.28; 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 56 # Segment length 92.255651 meters # Minimum depth: 863.245279 meters looking forward 100.000000 meters along route # Maximum depth: 879.669678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.245279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780859; longitude = -122.082819; duration = 184; # abortOnTimeout = True; initialDepth = 813.628050; finalDepth = 813.245279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.075788 # Actual altitude: 68.075788 # Commanded vehicle depth: 813.245279 # Seafloor depth: -879.669678 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.23; 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 56 # Segment length 104.697889 meters # Minimum depth: 863.628050 meters looking forward 100.000000 meters along route # Maximum depth: 886.287143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.628050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780596; longitude = -122.081838; duration = 209; initialDepth = 847.014593; finalDepth = 813.628050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.424399 # Actual altitude: 66.424399 # Commanded vehicle depth: 813.62805 # Seafloor depth: -863.628050 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.57; 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 56 # Segment length 104.698275 meters # Minimum depth: 897.014593 meters looking forward 100.000000 meters along route # Maximum depth: 924.195901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.014593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780297; longitude = -122.080725; duration = 209; initialDepth = 865.833305; finalDepth = 847.014593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 847.014593 # Seafloor depth: -897.014593 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 56 # Segment length 104.698661 meters # Minimum depth: 915.833305 meters looking forward 100.000000 meters along route # Maximum depth: 924.321498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.833305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779999; longitude = -122.079612; duration = 209; initialDepth = 863.257379; finalDepth = 865.833305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.488193 # Actual altitude: 58.488193 # Commanded vehicle depth: 865.833305 # Seafloor depth: -924.321498 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.40; 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 56 # Segment length 104.699047 meters # Minimum depth: 913.257379 meters looking forward 100.000000 meters along route # Maximum depth: 915.377898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.257379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779700; longitude = -122.078499; duration = 209; initialDepth = 855.563739; finalDepth = 863.257379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.488193 # Actual altitude: 58.488193 # Commanded vehicle depth: 863.257379 # Seafloor depth: -915.174139 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.40; 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 56 # Segment length 104.960091 meters # Minimum depth: 905.563739 meters looking forward 100.000000 meters along route # Maximum depth: 912.038299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.563739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779402; longitude = -122.077386; duration = 209; initialDepth = 818.590401; finalDepth = 855.563739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.47456 # Actual altitude: 56.47456 # Commanded vehicle depth: 855.563739 # Seafloor depth: -912.038299 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.59; 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 56 # Segment length 110.966782 meters # Minimum depth: 868.590401 meters looking forward 100.000000 meters along route # Maximum depth: 905.507501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.590401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779102; longitude = -122.076271; duration = 221; initialDepth = 805.484608; finalDepth = 818.590401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.9171 # Actual altitude: 86.9171 # Commanded vehicle depth: 818.590401 # Seafloor depth: -905.507501 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.77; 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 55 # Segment length 135.562105 meters # Minimum depth: 855.484608 meters looking forward 100.000000 meters along route # Maximum depth: 863.824307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.484608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778786; longitude = -122.075091; duration = 271; # abortOnTimeout = True; initialDepth = 794.002561; finalDepth = 805.484608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.9171 # Actual altitude: 86.9171 # Commanded vehicle depth: 805.484608 # Seafloor depth: -862.482788 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.77; 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 55 # Segment length 105.228924 meters # Minimum depth: 844.002561 meters looking forward 100.000000 meters along route # Maximum depth: 852.437266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.002561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780004; longitude = -122.074965; duration = 210; initialDepth = 786.695450; finalDepth = 794.002561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.434705 # Actual altitude: 58.434705 # Commanded vehicle depth: 794.002561 # Seafloor depth: -852.437266 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.37; 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 54 # Segment length 77.813276 meters # Minimum depth: 836.695450 meters looking forward 100.000000 meters along route # Maximum depth: 845.204916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.695450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780949; longitude = -122.074867; duration = 155; # abortOnTimeout = True; initialDepth = 762.515019; finalDepth = 786.695450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.434705 # Actual altitude: 58.434705 # Commanded vehicle depth: 786.69545 # Seafloor depth: -836.695450 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.37; 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 54 # Segment length 110.964065 meters # Minimum depth: 812.515019 meters looking forward 100.000000 meters along route # Maximum depth: 841.998130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.515019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781581; longitude = -122.075245; duration = 221; initialDepth = 758.028941; finalDepth = 762.515019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4831109999999 # Actual altitude: 79.4831109999999 # Commanded vehicle depth: 762.515019 # Seafloor depth: -841.998130 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.79; 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 54 # Segment length 110.880057 meters # Minimum depth: 808.028941 meters looking forward 100.000000 meters along route # Maximum depth: 813.629499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.028941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782482; longitude = -122.075784; duration = 221; initialDepth = 736.368397; finalDepth = 758.028941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.4831109999999 # Actual altitude: 79.4831109999999 # Commanded vehicle depth: 758.028941 # Seafloor depth: -810.311918 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.79; 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 53 # Segment length 152.956272 meters # Minimum depth: 786.368397 meters looking forward 100.000000 meters along route # Maximum depth: 821.151093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.368397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783383; longitude = -122.076323; duration = 305; # abortOnTimeout = True; initialDepth = 735.755004; finalDepth = 736.368397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.782696 # Actual altitude: 84.782696 # Commanded vehicle depth: 736.368397 # Seafloor depth: -821.151093 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.91; 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 52 # Segment length 76.052565 meters # Minimum depth: 785.755004 meters looking forward 100.000000 meters along route # Maximum depth: 792.849217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.755004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784735; longitude = -122.076659; duration = 152; # abortOnTimeout = True; initialDepth = 714.806720; finalDepth = 735.755004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.782696 # Actual altitude: 84.782696 # Commanded vehicle depth: 735.755004 # Seafloor depth: -788.227310 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.91; 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 52 # Segment length 101.305003 meters # Minimum depth: 764.806720 meters looking forward 100.000000 meters along route # Maximum depth: 789.407181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.806720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785412; longitude = -122.076796; duration = 202; initialDepth = 695.738174; finalDepth = 714.806720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.600461 # Actual altitude: 74.600461 # Commanded vehicle depth: 714.80672 # Seafloor depth: -789.407181 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.84; 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 52 # Segment length 101.304984 meters # Minimum depth: 745.738174 meters looking forward 100.000000 meters along route # Maximum depth: 759.831044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.738174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786313; longitude = -122.076978; duration = 202; initialDepth = 688.379873; finalDepth = 695.738174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.600461 # Actual altitude: 74.600461 # Commanded vehicle depth: 695.738174 # Seafloor depth: -759.831044 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.84; 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 52 # Segment length 101.304965 meters # Minimum depth: 738.379873 meters looking forward 100.000000 meters along route # Maximum depth: 742.866603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.379873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787214; longitude = -122.077160; duration = 202; initialDepth = 683.347744; finalDepth = 688.379873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0928700000001 # Actual altitude: 64.0928700000001 # Commanded vehicle depth: 688.379873 # Seafloor depth: -742.866603 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.64; 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 52 # Segment length 101.304945 meters # Minimum depth: 733.347744 meters looking forward 100.000000 meters along route # Maximum depth: 741.782574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.347744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788116; longitude = -122.077343; duration = 202; initialDepth = 663.397312; finalDepth = 683.347744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6581249999999 # Actual altitude: 56.6581249999999 # Commanded vehicle depth: 683.347744 # Seafloor depth: -740.005869 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.66; 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 52 # Segment length 101.304927 meters # Minimum depth: 713.397312 meters looking forward 100.000000 meters along route # Maximum depth: 723.812821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.397312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789017; longitude = -122.077525; duration = 202; initialDepth = 642.428980; finalDepth = 663.397312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4155089999999 # Actual altitude: 60.4155089999999 # Commanded vehicle depth: 663.397312 # Seafloor depth: -723.812821 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.17; 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 52 # Segment length 123.272851 meters # Minimum depth: 692.428980 meters looking forward 100.000000 meters along route # Maximum depth: 722.858508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.428980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789918; longitude = -122.077707; duration = 246; initialDepth = 634.518543; finalDepth = 642.428980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.429528 # Actual altitude: 80.429528 # Commanded vehicle depth: 642.42898 # Seafloor depth: -722.858508 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.17; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 103.059189 meters # Minimum depth: 684.518543 meters looking forward 100.000000 meters along route # Maximum depth: 703.881342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.518543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791015; longitude = -122.077929; duration = 206; # abortOnTimeout = True; initialDepth = 655.706144; finalDepth = 634.518543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.429528 # Actual altitude: 80.429528 # Commanded vehicle depth: 634.518543 # Seafloor depth: -686.197235 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.17; 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 51 # Segment length 101.793213 meters # Minimum depth: 705.706144 meters looking forward 100.000000 meters along route # Maximum depth: 748.066825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.706144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790811; longitude = -122.079056; duration = 203; initialDepth = 703.173098; finalDepth = 655.706144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.678692 # Actual altitude: 51.678692 # Commanded vehicle depth: 655.706144 # Seafloor depth: -705.706144 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.67; 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 51 # Segment length 101.793445 meters # Minimum depth: 756.705986 meters looking forward 100.000000 meters along route # Maximum depth: 761.068667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.173098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790609; longitude = -122.080169; duration = 203; initialDepth = 658.862733; finalDepth = 703.173098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5328881522918 # Actual altitude: 53.5328881522918 # Commanded vehicle depth: 703.173097847708 # Seafloor depth: -756.705986 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.41; 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 51 # Segment length 103.003533 meters # Minimum depth: 708.862733 meters looking forward 100.000000 meters along route # Maximum depth: 754.064827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.862733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790408; longitude = -122.081282; duration = 206; initialDepth = 651.229279; finalDepth = 658.862733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 95.202094 # Actual altitude: 95.202094 # Commanded vehicle depth: 658.862733 # Seafloor depth: -754.064827 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 38.08; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 82.125957 meters # Minimum depth: 701.229279 meters looking forward 100.000000 meters along route # Maximum depth: 723.629964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.229279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790204; longitude = -122.082408; duration = 164; # abortOnTimeout = True; initialDepth = 675.602246; finalDepth = 651.229279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.202094 # Actual altitude: 95.202094 # Commanded vehicle depth: 651.229279 # Seafloor depth: -701.229279 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 38.08; 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 50 # Segment length 100.514497 meters # Minimum depth: 725.602246 meters looking forward 100.000000 meters along route # Maximum depth: 728.078121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.602246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789468; longitude = -122.082314; duration = 201; initialDepth = 677.422294; finalDepth = 675.602246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75114 # Actual altitude: 51.75114 # Commanded vehicle depth: 675.602246 # Seafloor depth: -727.353386 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 50 # Segment length 100.514497 meters # Minimum depth: 727.422294 meters looking forward 100.000000 meters along route # Maximum depth: 736.079062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.422294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788566; longitude = -122.082199; duration = 201; initialDepth = 694.419634; finalDepth = 677.422294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75114 # Actual altitude: 51.75114 # Commanded vehicle depth: 677.422294 # Seafloor depth: -727.422294 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 50 # Segment length 108.947704 meters # Minimum depth: 744.419634 meters looking forward 100.000000 meters along route # Maximum depth: 755.372345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.419634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787665; longitude = -122.082084; duration = 217; initialDepth = 705.680298; finalDepth = 694.419634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.419634 # Seafloor depth: -744.419634 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 49 # Segment length 91.606456 meters # Minimum depth: 755.680298 meters looking forward 100.000000 meters along route # Maximum depth: 762.883101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.680298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786688; longitude = -122.081960; duration = 183; # abortOnTimeout = True; initialDepth = 718.969650; finalDepth = 705.680298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.680298 # Seafloor depth: -755.680298 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 49 # Segment length 124.995200 meters # Minimum depth: 768.969650 meters looking forward 100.000000 meters along route # Maximum depth: 788.076892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.969650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785862; longitude = -122.081949; duration = 249; initialDepth = 741.596608; finalDepth = 718.969650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.96965 # Seafloor depth: -768.969650 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 49 # Segment length 100.033770 meters # Minimum depth: 791.596608 meters looking forward 100.000000 meters along route # Maximum depth: 801.969948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.596608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784736; longitude = -122.081935; duration = 200; initialDepth = 751.969948; finalDepth = 741.596608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.596608 # Seafloor depth: -791.596608 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 48 # Segment length 75.744615 meters # Minimum depth: 801.969948 meters looking forward 100.000000 meters along route # Maximum depth: 816.329743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.969948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783834; longitude = -122.081923; duration = 151; # abortOnTimeout = True; initialDepth = 773.103553; finalDepth = 751.969948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75312 # Actual altitude: 51.75312 # Commanded vehicle depth: 751.969948 # Seafloor depth: -803.723068 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 48 # Segment length 109.567382 meters # Minimum depth: 823.103553 meters looking forward 100.000000 meters along route # Maximum depth: 844.336807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.103553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783158; longitude = -122.081801; duration = 219; initialDepth = 793.253304; finalDepth = 773.103553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.75312 # Actual altitude: 51.75312 # Commanded vehicle depth: 773.103553 # Seafloor depth: -823.103553 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 47 # Segment length 129.919736 meters # Minimum depth: 843.253304 meters looking forward 100.000000 meters along route # Maximum depth: 858.592299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.253304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782181; longitude = -122.081624; duration = 259; # abortOnTimeout = True; initialDepth = 810.696838; finalDepth = 793.253304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.085227 # Actual altitude: 52.085227 # Commanded vehicle depth: 793.253304 # Seafloor depth: -845.338531 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.83; 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 46 # Segment length 98.554840 meters # Minimum depth: 860.696838 meters looking forward 100.000000 meters along route # Maximum depth: 875.298479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.696838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781100; longitude = -122.081064; duration = 197; # abortOnTimeout = True; initialDepth = 828.652786; finalDepth = 810.696838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.085227 # Actual altitude: 52.085227 # Commanded vehicle depth: 810.696838 # Seafloor depth: -860.696838 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.83; 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 45 # Segment length 187.471726 meters # Minimum depth: 878.652786 meters looking forward 100.000000 meters along route # Maximum depth: 913.831127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.652786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780288; longitude = -122.081512; duration = 374; # abortOnTimeout = True; initialDepth = 864.408332; finalDepth = 828.652786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 828.652786 # Seafloor depth: -878.652786 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 45 # Segment length 101.894369 meters # Minimum depth: 914.408332 meters looking forward 100.000000 meters along route # Maximum depth: 927.982602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.408332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779315; longitude = -122.083230; duration = 203; initialDepth = 878.898193; finalDepth = 864.408332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 864.408332 # Seafloor depth: -914.408332 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 44 # Segment length 184.789489 meters # Minimum depth: 928.898193 meters looking forward 100.000000 meters along route # Maximum depth: 932.252027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.898193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778786; longitude = -122.084163; duration = 369; # abortOnTimeout = True; initialDepth = 863.839485; finalDepth = 878.898193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 878.898193 # Seafloor depth: -928.898193 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 44 # Segment length 105.830827 meters # Minimum depth: 913.839485 meters looking forward 100.000000 meters along route # Maximum depth: 930.071077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.839485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777525; longitude = -122.085516; duration = 211; initialDepth = 866.204468; finalDepth = 863.839485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.231592 # Actual altitude: 66.231592 # Commanded vehicle depth: 863.839485 # Seafloor depth: -930.071077 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.49; 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 43 # Segment length 149.322423 meters # Minimum depth: 916.204468 meters looking forward 100.000000 meters along route # Maximum depth: 960.590093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.204468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776803; longitude = -122.086291; duration = 298; # abortOnTimeout = True; initialDepth = 918.441921; finalDepth = 866.204468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.231592 # Actual altitude: 66.231592 # Commanded vehicle depth: 866.204468 # Seafloor depth: -916.204468 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.49; 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 43 # Segment length 103.064866 meters # Minimum depth: 968.441921 meters looking forward 100.000000 meters along route # Maximum depth: 993.454856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.441921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775497; longitude = -122.086697; duration = 206; initialDepth = 951.230177; finalDepth = 918.441921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 918.441921 # Seafloor depth: -968.441921 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 43 # Segment length 103.064917 meters # Minimum depth: 1001.230177 meters looking forward 100.000000 meters along route # Maximum depth: 1018.978658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.230177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774596; longitude = -122.086977; duration = 206; initialDepth = 974.688503; finalDepth = 951.230177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 951.230177 # Seafloor depth: -1001.230177 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 43 # Segment length 103.064969 meters # Minimum depth: 1024.688503 meters looking forward 100.000000 meters along route # Maximum depth: 1032.111963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.688503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773695; longitude = -122.087257; duration = 206; initialDepth = 984.523004; finalDepth = 974.688503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.688503 # Seafloor depth: -1024.688503 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 43 # Segment length 118.717465 meters # Minimum depth: 1034.523004 meters looking forward 100.000000 meters along route # Maximum depth: 1045.527623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.523004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772793; longitude = -122.087537; duration = 237; initialDepth = 996.719147; finalDepth = 984.523004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.523004 # Seafloor depth: -1034.523004 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 157.299761 meters # Minimum depth: 1046.719147 meters looking forward 100.000000 meters along route # Maximum depth: 1066.732931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.719147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771755; longitude = -122.087859; duration = 314; # abortOnTimeout = True; initialDepth = 1017.788887; finalDepth = 996.719147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.719147 # Seafloor depth: -1046.719147 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 101.058025 meters # Minimum depth: 1067.788887 meters looking forward 100.000000 meters along route # Maximum depth: 1075.775989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.788887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770540; longitude = -122.088767; duration = 202; initialDepth = 1027.917156; finalDepth = 1017.788887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1017.788887 # Seafloor depth: -1067.788887 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 103.132760 meters # Minimum depth: 1077.917156 meters looking forward 100.000000 meters along route # Maximum depth: 1101.411713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.917156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769759; longitude = -122.089351; duration = 206; initialDepth = 1052.741423; finalDepth = 1027.917156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1027.917156 # Seafloor depth: -1077.917156 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 116.680911 meters # Minimum depth: 1102.741423 meters looking forward 100.000000 meters along route # Maximum depth: 1115.060351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.741423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768963; longitude = -122.089946; duration = 233; initialDepth = 1066.077836; finalDepth = 1052.741423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1052.741423 # Seafloor depth: -1102.741423 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 117.480429 meters # Minimum depth: 1116.077836 meters looking forward 100.000000 meters along route # Maximum depth: 1126.669973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.077836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768061; longitude = -122.090620; duration = 234; initialDepth = 1076.818318; finalDepth = 1066.077836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1066.077836 # Seafloor depth: -1116.077836 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 115.882400 meters # Minimum depth: 1126.818318 meters looking forward 100.000000 meters along route # Maximum depth: 1143.872738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.818318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767154; longitude = -122.091299; duration = 231; initialDepth = 1095.709099; finalDepth = 1076.818318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1076.818318 # Seafloor depth: -1126.818318 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 125.043675 meters # Minimum depth: 1145.709099 meters looking forward 100.000000 meters along route # Maximum depth: 1149.130570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.709099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766259; longitude = -122.091968; duration = 250; initialDepth = 1099.482516; finalDepth = 1095.709099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1095.709099 # Seafloor depth: -1145.709099 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 42 # Segment length 100.813717 meters # Minimum depth: 1149.482516 meters looking forward 100.000000 meters along route # Maximum depth: 1159.710672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.482516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765293; longitude = -122.092690; duration = 201; initialDepth = 1109.766418; finalDepth = 1099.482516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1099.482516 # Seafloor depth: -1149.482516 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 153.814143 meters # Minimum depth: 1159.766418 meters looking forward 100.000000 meters along route # Maximum depth: 1166.039810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.766418 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764514; longitude = -122.093272; duration = 307; # abortOnTimeout = True; initialDepth = 1108.043557; finalDepth = 1109.766418; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1109.766418 # Seafloor depth: -1159.766418 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 40 # Segment length 139.493326 meters # Minimum depth: 1158.043557 meters looking forward 100.000000 meters along route # Maximum depth: 1163.841766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.043557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763823; longitude = -122.091778; duration = 278; # abortOnTimeout = True; initialDepth = 1101.257606; finalDepth = 1108.043557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.798209 # Actual altitude: 55.798209 # Commanded vehicle depth: 1108.043557 # Seafloor depth: -1163.841766 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.32; 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 40 # Segment length 116.019744 meters # Minimum depth: 1151.257606 meters looking forward 100.000000 meters along route # Maximum depth: 1157.906701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.257606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764907; longitude = -122.090985; duration = 232; initialDepth = 1078.546423; finalDepth = 1101.257606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6490950000002 # Actual altitude: 56.6490950000002 # Commanded vehicle depth: 1101.257606 # Seafloor depth: -1157.906701 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.66; 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 40 # Segment length 122.648687 meters # Minimum depth: 1128.546423 meters looking forward 100.000000 meters along route # Maximum depth: 1147.459216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.546423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765808; longitude = -122.090326; duration = 245; initialDepth = 1070.260251; finalDepth = 1078.546423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.912793 # Actual altitude: 68.912793 # Commanded vehicle depth: 1078.546423 # Seafloor depth: -1147.459216 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.57; 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 40 # Segment length 109.389832 meters # Minimum depth: 1120.260251 meters looking forward 100.000000 meters along route # Maximum depth: 1128.021217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.260251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766761; longitude = -122.089629; duration = 218; initialDepth = 1055.699872; finalDepth = 1070.260251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.912793 # Actual altitude: 68.912793 # Commanded vehicle depth: 1070.260251 # Seafloor depth: -1128.021217 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.57; 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 40 # Segment length 116.018775 meters # Minimum depth: 1105.699872 meters looking forward 100.000000 meters along route # Maximum depth: 1119.243826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.699872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767611; longitude = -122.089008; duration = 232; initialDepth = 1041.899120; finalDepth = 1055.699872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.543954 # Actual altitude: 63.543954 # Commanded vehicle depth: 1055.699872 # Seafloor depth: -1119.243826 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.42; 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 40 # Segment length 117.354944 meters # Minimum depth: 1091.899120 meters looking forward 100.000000 meters along route # Maximum depth: 1103.728986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.899120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768512; longitude = -122.088348; duration = 234; initialDepth = 1030.664906; finalDepth = 1041.899120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.543954 # Actual altitude: 63.543954 # Commanded vehicle depth: 1041.89912 # Seafloor depth: -1103.728986 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.42; 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 40 # Segment length 114.681639 meters # Minimum depth: 1080.664906 meters looking forward 100.000000 meters along route # Maximum depth: 1091.775437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.664906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769424; longitude = -122.087681; duration = 229; initialDepth = 1013.056759; finalDepth = 1030.664906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.829866 # Actual altitude: 61.829866 # Commanded vehicle depth: 1030.664906 # Seafloor depth: -1091.775437 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.73; 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 40 # Segment length 123.497138 meters # Minimum depth: 1063.056759 meters looking forward 100.000000 meters along route # Maximum depth: 1077.936179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.056759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770315; longitude = -122.087030; duration = 246; initialDepth = 1001.509856; finalDepth = 1013.056759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.87942 # Actual altitude: 64.87942 # Commanded vehicle depth: 1013.056759 # Seafloor depth: -1077.936179 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.95; 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 39 # Segment length 147.953296 meters # Minimum depth: 1051.509856 meters looking forward 100.000000 meters along route # Maximum depth: 1060.790131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.509856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771274; longitude = -122.086328; duration = 295; # abortOnTimeout = True; initialDepth = 988.785279; finalDepth = 1001.509856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.87942 # Actual altitude: 64.87942 # Commanded vehicle depth: 1001.509856 # Seafloor depth: -1060.790131 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.95; 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 39 # Segment length 103.065013 meters # Minimum depth: 1038.785279 meters looking forward 100.000000 meters along route # Maximum depth: 1048.500830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.785279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772568; longitude = -122.085926; duration = 206; initialDepth = 962.101242; finalDepth = 988.785279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.715551 # Actual altitude: 59.715551 # Commanded vehicle depth: 988.785279 # Seafloor depth: -1048.500830 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.89; 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 39 # Segment length 103.064961 meters # Minimum depth: 1012.101242 meters looking forward 100.000000 meters along route # Maximum depth: 1033.189958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.101242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773469; longitude = -122.085646; duration = 206; initialDepth = 942.060647; finalDepth = 962.101242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.088716 # Actual altitude: 71.088716 # Commanded vehicle depth: 962.101242 # Seafloor depth: -1033.189958 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.44; 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 39 # Segment length 103.064910 meters # Minimum depth: 992.060647 meters looking forward 100.000000 meters along route # Maximum depth: 1007.220739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.060647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774371; longitude = -122.085366; duration = 206; initialDepth = 928.746800; finalDepth = 942.060647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.088716 # Actual altitude: 71.088716 # Commanded vehicle depth: 942.060647 # Seafloor depth: -1007.220739 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.44; 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 39 # Segment length 120.086786 meters # Minimum depth: 978.746800 meters looking forward 100.000000 meters along route # Maximum depth: 990.187140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.746800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775272; longitude = -122.085086; duration = 240; initialDepth = 912.660558; finalDepth = 928.746800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.160092 # Actual altitude: 65.160092 # Commanded vehicle depth: 928.7468 # Seafloor depth: -990.187140 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.06; 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 38 # Segment length 144.437082 meters # Minimum depth: 962.660558 meters looking forward 100.000000 meters along route # Maximum depth: 976.381470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.660558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776322; longitude = -122.084760; duration = 288; # abortOnTimeout = True; initialDepth = 902.156771; finalDepth = 912.660558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.720912 # Actual altitude: 63.720912 # Commanded vehicle depth: 912.660558 # Seafloor depth: -976.381470 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.49; 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 38 # Segment length 110.180790 meters # Minimum depth: 952.156771 meters looking forward 100.000000 meters along route # Maximum depth: 961.975367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.156771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777362; longitude = -122.083786; duration = 220; initialDepth = 871.005281; finalDepth = 902.156771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.720912 # Actual altitude: 63.720912 # Commanded vehicle depth: 902.156771 # Seafloor depth: -961.975367 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.49; 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 37 # Segment length 159.827156 meters # Minimum depth: 921.005281 meters looking forward 100.000000 meters along route # Maximum depth: 947.453537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.005281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778155; longitude = -122.083043; duration = 319; # abortOnTimeout = True; initialDepth = 875.311939; finalDepth = 871.005281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.448256 # Actual altitude: 76.448256 # Commanded vehicle depth: 871.005281 # Seafloor depth: -947.453537 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.58; 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 37 # Segment length 101.743262 meters # Minimum depth: 925.311939 meters looking forward 100.000000 meters along route # Maximum depth: 927.650378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.311939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778963; longitude = -122.081560; duration = 203; initialDepth = 868.871608; finalDepth = 875.311939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.448256 # Actual altitude: 76.448256 # Commanded vehicle depth: 875.311939 # Seafloor depth: -925.311939 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.58; 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 36 # Segment length 132.664097 meters # Minimum depth: 918.871608 meters looking forward 100.000000 meters along route # Maximum depth: 928.748169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.871608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779477; longitude = -122.080616; duration = 265; # abortOnTimeout = True; initialDepth = 846.388790; finalDepth = 868.871608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.8765609999999 # Actual altitude: 59.8765609999999 # Commanded vehicle depth: 868.871608 # Seafloor depth: -928.748169 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.95; 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 35 # Segment length 109.234678 meters # Minimum depth: 896.388790 meters looking forward 100.000000 meters along route # Maximum depth: 918.058716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.388790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780408; longitude = -122.079683; duration = 218; # abortOnTimeout = True; initialDepth = 834.403723; finalDepth = 846.388790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.669926 # Actual altitude: 71.669926 # Commanded vehicle depth: 846.38879 # Seafloor depth: -918.058716 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.67; 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 34 # Segment length 79.563674 meters # Minimum depth: 884.403723 meters looking forward 100.000000 meters along route # Maximum depth: 896.388790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.403723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781370; longitude = -122.079944; duration = 159; # abortOnTimeout = True; initialDepth = 810.096952; finalDepth = 834.403723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.669926 # Actual altitude: 71.669926 # Commanded vehicle depth: 834.403723 # Seafloor depth: -891.438675 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.67; 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 34 # Segment length 119.193761 meters # Minimum depth: 860.096952 meters looking forward 100.000000 meters along route # Maximum depth: 877.290741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.096952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782032; longitude = -122.080288; duration = 238; initialDepth = 804.905594; finalDepth = 810.096952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.193789 # Actual altitude: 67.193789 # Commanded vehicle depth: 810.096952 # Seafloor depth: -877.290741 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.88; 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 33 # Segment length 139.147171 meters # Minimum depth: 854.905594 meters looking forward 100.000000 meters along route # Maximum depth: 860.994470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.905594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783023; longitude = -122.080803; duration = 278; # abortOnTimeout = True; initialDepth = 809.770676; finalDepth = 804.905594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.193789 # Actual altitude: 67.193789 # Commanded vehicle depth: 804.905594 # Seafloor depth: -854.905594 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.88; 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 32 # Segment length 110.061541 meters # Minimum depth: 859.770676 meters looking forward 100.000000 meters along route # Maximum depth: 869.348729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.770676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784254; longitude = -122.080504; duration = 220; # abortOnTimeout = True; initialDepth = 811.173564; finalDepth = 809.770676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 809.770676 # Seafloor depth: -859.770676 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 32 # Segment length 104.703929 meters # Minimum depth: 861.173564 meters looking forward 100.000000 meters along route # Maximum depth: 871.465184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.173564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784568; longitude = -122.079334; duration = 209; initialDepth = 757.586892; finalDepth = 811.173564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.972229 # Actual altitude: 58.972229 # Commanded vehicle depth: 811.173564 # Seafloor depth: -870.145793 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.59; 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 32 # Segment length 101.232992 meters # Minimum depth: 807.586892 meters looking forward 100.000000 meters along route # Maximum depth: 851.058777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.586892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784867; longitude = -122.078221; duration = 202; initialDepth = 728.615952; finalDepth = 757.586892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 93.4718849999999 # Actual altitude: 93.4718849999999 # Commanded vehicle depth: 757.586892 # Seafloor depth: -851.058777 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.39; 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 31 # Segment length 134.747319 meters # Minimum depth: 778.615952 meters looking forward 100.000000 meters along route # Maximum depth: 805.584061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.615952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785156; longitude = -122.077145; duration = 269; # abortOnTimeout = True; initialDepth = 717.539458; finalDepth = 728.615952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.4718849999999 # Actual altitude: 93.4718849999999 # Commanded vehicle depth: 728.615952 # Seafloor depth: -805.584061 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.39; 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 31 # Segment length 104.973156 meters # Minimum depth: 767.539458 meters looking forward 100.000000 meters along route # Maximum depth: 772.964207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.539458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786313; longitude = -122.077605; duration = 209; initialDepth = 717.456370; finalDepth = 717.539458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.968109 # Actual altitude: 76.968109 # Commanded vehicle depth: 717.539458 # Seafloor depth: -772.964207 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.79; 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 31 # Segment length 110.260951 meters # Minimum depth: 767.456370 meters looking forward 100.000000 meters along route # Maximum depth: 777.717801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.456370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787214; longitude = -122.077963; duration = 220; initialDepth = 706.540914; finalDepth = 717.456370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.424749 # Actual altitude: 55.424749 # Commanded vehicle depth: 717.45637 # Seafloor depth: -767.456370 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.17; 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 30 # Segment length 97.267519 meters # Minimum depth: 756.540914 meters looking forward 100.000000 meters along route # Maximum depth: 770.214478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.540914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788161; longitude = -122.078339; duration = 194; # abortOnTimeout = True; initialDepth = 693.216836; finalDepth = 706.540914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6735639999999 # Actual altitude: 63.6735639999999 # Commanded vehicle depth: 706.540914 # Seafloor depth: -770.214478 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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 102.427131 meters # Minimum depth: 743.216836 meters looking forward 100.000000 meters along route # Maximum depth: 754.798996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.216836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789017; longitude = -122.078575; duration = 204; initialDepth = 658.063441; finalDepth = 693.216836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6735639999999 # Actual altitude: 63.6735639999999 # Commanded vehicle depth: 693.216836 # Seafloor depth: -754.798996 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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 102.427086 meters # Minimum depth: 708.063441 meters looking forward 100.000000 meters along route # Maximum depth: 734.744184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.063441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789918; longitude = -122.078824; duration = 204; initialDepth = 640.396937; finalDepth = 658.063441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.680743 # Actual altitude: 76.680743 # Commanded vehicle depth: 658.063441 # Seafloor depth: -734.744184 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.67; 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 102.427039 meters # Minimum depth: 690.396937 meters looking forward 100.000000 meters along route # Maximum depth: 706.025868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.396937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790820; longitude = -122.079073; duration = 204; initialDepth = 640.349680; finalDepth = 640.396937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.680743 # Actual altitude: 76.680743 # Commanded vehicle depth: 640.396937 # Seafloor depth: -706.025868 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.67; 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 102.426992 meters # Minimum depth: 690.349680 meters looking forward 100.000000 meters along route # Maximum depth: 698.953827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.349680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791721; longitude = -122.079322; duration = 204; initialDepth = 605.527464; finalDepth = 640.349680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.628931 # Actual altitude: 65.628931 # Commanded vehicle depth: 640.34968 # Seafloor depth: -690.349680 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.25; 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 102.426946 meters # Minimum depth: 655.527464 meters looking forward 100.000000 meters along route # Maximum depth: 675.321072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.527464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792622; longitude = -122.079571; duration = 204; initialDepth = 596.449334; finalDepth = 605.527464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7936079999999 # Actual altitude: 69.7936079999999 # Commanded vehicle depth: 605.527464 # Seafloor depth: -675.321072 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.92; 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 102.426900 meters # Minimum depth: 646.449334 meters looking forward 100.000000 meters along route # Maximum depth: 651.502796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.449334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793524; longitude = -122.079820; duration = 204; initialDepth = 553.884931; finalDepth = 596.449334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7936079999999 # Actual altitude: 69.7936079999999 # Commanded vehicle depth: 596.449334 # Seafloor depth: -650.776639 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.92; 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 117.866510 meters # Minimum depth: 603.884931 meters looking forward 100.000000 meters along route # Maximum depth: 641.996697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.884931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794425; longitude = -122.080069; duration = 235; initialDepth = 548.705078; finalDepth = 553.884931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 88.111766 # Actual altitude: 88.111766 # Commanded vehicle depth: 553.884931 # Seafloor depth: -641.996697 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.24; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 134.611509 meters # Minimum depth: 598.705078 meters looking forward 100.000000 meters along route # Maximum depth: 642.477381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.705078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795462; longitude = -122.080355; duration = 269; # abortOnTimeout = True; initialDepth = 594.795450; finalDepth = 548.705078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.111766 # Actual altitude: 88.111766 # Commanded vehicle depth: 548.705078 # Seafloor depth: -598.705078 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.24; 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 29 # Segment length 102.525106 meters # Minimum depth: 644.795450 meters looking forward 100.000000 meters along route # Maximum depth: 650.131582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.795450 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795240; longitude = -122.081838; duration = 205; initialDepth = 590.830841; finalDepth = 594.795450; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.762818 # Actual altitude: 54.762818 # Commanded vehicle depth: 594.79545 # Seafloor depth: -649.558268 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.91; 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 28 # Segment length 125.160264 meters # Minimum depth: 640.830841 meters looking forward 100.000000 meters along route # Maximum depth: 657.049749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.830841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795071; longitude = -122.082968; duration = 250; # abortOnTimeout = True; initialDepth = 607.712135; finalDepth = 590.830841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.762818 # Actual altitude: 54.762818 # Commanded vehicle depth: 590.830841 # Seafloor depth: -640.830841 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.91; 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 28 # Segment length 102.849338 meters # Minimum depth: 657.712135 meters looking forward 100.000000 meters along route # Maximum depth: 683.912072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.712135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793974; longitude = -122.082640; duration = 205; initialDepth = 632.207044; finalDepth = 607.712135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 607.712135 # Seafloor depth: -657.712135 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 28 # Segment length 102.849394 meters # Minimum depth: 682.207044 meters looking forward 100.000000 meters along route # Maximum depth: 685.571950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.207044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793073; longitude = -122.082370; duration = 205; initialDepth = 634.050778; finalDepth = 632.207044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.364906 # Actual altitude: 53.364906 # Commanded vehicle depth: 632.207044 # Seafloor depth: -685.571950 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.35; 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 28 # Segment length 102.849451 meters # Minimum depth: 684.050778 meters looking forward 100.000000 meters along route # Maximum depth: 723.083128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.050778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792172; longitude = -122.082100; duration = 205; initialDepth = 674.770892; finalDepth = 634.050778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.364906 # Actual altitude: 53.364906 # Commanded vehicle depth: 634.050778 # Seafloor depth: -684.050778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.35; 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 28 # Segment length 102.862659 meters # Minimum depth: 724.770892 meters looking forward 100.000000 meters along route # Maximum depth: 751.572448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.770892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791270; longitude = -122.081830; duration = 205; initialDepth = 701.575627; finalDepth = 674.770892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 674.770892 # Seafloor depth: -724.770892 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 28 # Segment length 106.038699 meters # Minimum depth: 751.575627 meters looking forward 100.000000 meters along route # Maximum depth: 765.367784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.575627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790369; longitude = -122.081560; duration = 212; initialDepth = 715.532940; finalDepth = 701.575627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.575627 # Seafloor depth: -751.575627 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 28 # Segment length 106.038760 meters # Minimum depth: 765.532940 meters looking forward 100.000000 meters along route # Maximum depth: 777.234660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.532940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789440; longitude = -122.081282; duration = 212; initialDepth = 728.468825; finalDepth = 715.532940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.53294 # Seafloor depth: -765.532940 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 28 # Segment length 105.009499 meters # Minimum depth: 778.468825 meters looking forward 100.000000 meters along route # Maximum depth: 786.475382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.468825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788510; longitude = -122.081004; duration = 210; initialDepth = 733.668152; finalDepth = 728.468825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.468825 # Seafloor depth: -778.468825 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 27 # Segment length 120.930061 meters # Minimum depth: 783.668152 meters looking forward 100.000000 meters along route # Maximum depth: 805.299624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.668152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787590; longitude = -122.080728; duration = 241; # abortOnTimeout = True; initialDepth = 768.564437; finalDepth = 733.668152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.668152 # Seafloor depth: -783.668152 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 103.637525 meters # Minimum depth: 818.564437 meters looking forward 100.000000 meters along route # Maximum depth: 867.237903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.564437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786538; longitude = -122.080372; duration = 207; initialDepth = 816.891408; finalDepth = 768.564437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 768.564437 # Seafloor depth: -818.564437 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 117.511254 meters # Minimum depth: 869.474028 meters looking forward 100.000000 meters along route # Maximum depth: 872.222531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.891408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785637; longitude = -122.080066; duration = 235; initialDepth = 814.568637; finalDepth = 816.891408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.5826203593771 # Actual altitude: 52.5826203593771 # Commanded vehicle depth: 816.891407640623 # Seafloor depth: -869.474028 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.03; 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 142.500678 meters # Minimum depth: 864.568637 meters looking forward 100.000000 meters along route # Maximum depth: 869.218094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.568637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784615; longitude = -122.079720; duration = 285; # abortOnTimeout = True; initialDepth = 813.908144; finalDepth = 814.568637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.649457 # Actual altitude: 54.649457 # Commanded vehicle depth: 814.568637 # Seafloor depth: -869.218094 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.86; 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 114.767347 meters # Minimum depth: 863.908144 meters looking forward 100.000000 meters along route # Maximum depth: 869.793580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.908144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783384; longitude = -122.079265; duration = 229; initialDepth = 821.162384; finalDepth = 813.908144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.649457 # Actual altitude: 54.649457 # Commanded vehicle depth: 813.908144 # Seafloor depth: -863.908144 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.86; 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 25 # Segment length 101.674559 meters # Minimum depth: 871.162384 meters looking forward 100.000000 meters along route # Maximum depth: 880.706878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.162384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782392; longitude = -122.078899; duration = 203; # abortOnTimeout = True; initialDepth = 833.913793; finalDepth = 821.162384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 821.162384 # Seafloor depth: -871.162384 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 25 # Segment length 105.572875 meters # Minimum depth: 883.913793 meters looking forward 100.000000 meters along route # Maximum depth: 893.404774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.913793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781581; longitude = -122.078368; duration = 211; initialDepth = 845.536209; finalDepth = 833.913793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 833.913793 # Seafloor depth: -883.913793 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 24 # Segment length 140.360557 meters # Minimum depth: 895.536209 meters looking forward 100.000000 meters along route # Maximum depth: 913.143129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.536209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780739; longitude = -122.077817; duration = 280; # abortOnTimeout = True; initialDepth = 864.526154; finalDepth = 845.536209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 845.536209 # Seafloor depth: -895.536209 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 23 # Segment length 157.954046 meters # Minimum depth: 914.526154 meters looking forward 100.000000 meters along route # Maximum depth: 936.573823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.526154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779477; longitude = -122.077929; duration = 315; # abortOnTimeout = True; initialDepth = 890.563507; finalDepth = 864.526154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 864.526154 # Seafloor depth: -914.526154 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 22 # Segment length 151.276008 meters # Minimum depth: 940.563507 meters looking forward 100.000000 meters along route # Maximum depth: 958.943562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.563507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778516; longitude = -122.079235; duration = 302; # abortOnTimeout = True; initialDepth = 911.295728; finalDepth = 890.563507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 890.563507 # Seafloor depth: -940.563507 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 22 # Segment length 121.575889 meters # Minimum depth: 961.295728 meters looking forward 100.000000 meters along route # Maximum depth: 969.513208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.295728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777866; longitude = -122.080725; duration = 243; initialDepth = 917.863068; finalDepth = 911.295728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 911.295728 # Seafloor depth: -961.295728 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 21 # Segment length 109.075524 meters # Minimum depth: 967.863068 meters looking forward 100.000000 meters along route # Maximum depth: 984.168952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.863068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777344; longitude = -122.081923; duration = 218; # abortOnTimeout = True; initialDepth = 935.393714; finalDepth = 917.863068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 917.863068 # Seafloor depth: -967.863068 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 21 # Segment length 118.960231 meters # Minimum depth: 985.393714 meters looking forward 100.000000 meters along route # Maximum depth: 1004.218839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.393714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776568; longitude = -122.082673; duration = 237; initialDepth = 956.215073; finalDepth = 935.393714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 935.393714 # Seafloor depth: -985.393714 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 20 # Segment length 153.945404 meters # Minimum depth: 1006.215073 meters looking forward 100.000000 meters along route # Maximum depth: 1024.027329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.215073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775721; longitude = -122.083491; duration = 307; # abortOnTimeout = True; initialDepth = 976.012502; finalDepth = 956.215073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 956.215073 # Seafloor depth: -1006.215073 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 20 # Segment length 102.742943 meters # Minimum depth: 1026.012502 meters looking forward 100.000000 meters along route # Maximum depth: 1030.204264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.012502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774371; longitude = -122.083888; duration = 205; initialDepth = 986.013184; finalDepth = 976.012502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.012502 # Seafloor depth: -1026.012502 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 20 # Segment length 102.742988 meters # Minimum depth: 1036.013184 meters looking forward 100.000000 meters along route # Maximum depth: 1039.925547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.013184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773469; longitude = -122.084152; duration = 205; initialDepth = 994.139457; finalDepth = 986.013184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 986.013184 # Seafloor depth: -1036.013184 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 20 # Segment length 102.743032 meters # Minimum depth: 1044.139457 meters looking forward 100.000000 meters along route # Maximum depth: 1050.423213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.139457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772568; longitude = -122.084417; duration = 205; initialDepth = 1001.974292; finalDepth = 994.139457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.139457 # Seafloor depth: -1044.139457 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 20 # Segment length 102.997948 meters # Minimum depth: 1051.974292 meters looking forward 100.000000 meters along route # Maximum depth: 1057.841367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.974292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771667; longitude = -122.084682; duration = 205; initialDepth = 1009.797638; finalDepth = 1001.974292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.974292 # Seafloor depth: -1051.974292 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 143.496710 meters # Minimum depth: 1059.797638 meters looking forward 100.000000 meters along route # Maximum depth: 1073.398353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.797638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770763; longitude = -122.084947; duration = 286; # abortOnTimeout = True; initialDepth = 1023.458340; finalDepth = 1009.797638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1009.797638 # Seafloor depth: -1059.797638 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.503847 meters # Minimum depth: 1073.458340 meters looking forward 100.000000 meters along route # Maximum depth: 1079.092434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.458340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769635; longitude = -122.085734; duration = 203; initialDepth = 1031.272590; finalDepth = 1023.458340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1023.45834 # Seafloor depth: -1073.458340 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.504080 meters # Minimum depth: 1081.272590 meters looking forward 100.000000 meters along route # Maximum depth: 1092.879091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.272590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768837; longitude = -122.086290; duration = 203; initialDepth = 1043.244560; finalDepth = 1031.272590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1031.27259 # Seafloor depth: -1081.272590 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.504310 meters # Minimum depth: 1093.244560 meters looking forward 100.000000 meters along route # Maximum depth: 1105.938157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.244560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768039; longitude = -122.086847; duration = 203; initialDepth = 1058.741743; finalDepth = 1043.244560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1043.24456 # Seafloor depth: -1093.244560 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.504543 meters # Minimum depth: 1108.741743 meters looking forward 100.000000 meters along route # Maximum depth: 1115.455456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.741743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767241; longitude = -122.087403; duration = 203; initialDepth = 1065.672786; finalDepth = 1058.741743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1058.741743 # Seafloor depth: -1108.741743 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.504773 meters # Minimum depth: 1115.672786 meters looking forward 100.000000 meters along route # Maximum depth: 1123.856780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.672786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766443; longitude = -122.087960; duration = 203; initialDepth = 1076.791067; finalDepth = 1065.672786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1065.672786 # Seafloor depth: -1115.672786 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 101.505006 meters # Minimum depth: 1126.791067 meters looking forward 100.000000 meters along route # Maximum depth: 1143.732755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.791067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765645; longitude = -122.088516; duration = 203; initialDepth = 1094.352445; finalDepth = 1076.791067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1076.791067 # Seafloor depth: -1126.791067 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 107.102008 meters # Minimum depth: 1144.352445 meters looking forward 100.000000 meters along route # Maximum depth: 1146.110875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.352445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764847; longitude = -122.089073; duration = 214; initialDepth = 1095.136303; finalDepth = 1094.352445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1094.352445 # Seafloor depth: -1144.352445 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 19 # Segment length 107.282496 meters # Minimum depth: 1145.136303 meters looking forward 100.000000 meters along route # Maximum depth: 1154.177690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.136303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764005; longitude = -122.089660; duration = 214; initialDepth = 1106.587954; finalDepth = 1095.136303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1095.136303 # Seafloor depth: -1145.136303 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 150.734268 meters # Minimum depth: 1156.587954 meters looking forward 100.000000 meters along route # Maximum depth: 1159.371801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.587954 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763162; longitude = -122.090248; duration = 301; # abortOnTimeout = True; initialDepth = 1091.193245; finalDepth = 1106.587954; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.2048319999999 # Actual altitude: 50.2048319999999 # Commanded vehicle depth: 1106.587954 # Seafloor depth: -1156.792786 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.08; 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 17 # Segment length 146.553693 meters # Minimum depth: 1141.193245 meters looking forward 100.000000 meters along route # Maximum depth: 1158.295471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.193245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762380; longitude = -122.088867; duration = 293; # abortOnTimeout = True; initialDepth = 1076.592360; finalDepth = 1091.193245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.102226 # Actual altitude: 67.102226 # Commanded vehicle depth: 1091.193245 # Seafloor depth: -1158.295471 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.84; 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 17 # Segment length 108.453042 meters # Minimum depth: 1126.592360 meters looking forward 100.000000 meters along route # Maximum depth: 1136.849690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.592360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763555; longitude = -122.088116; duration = 216; initialDepth = 1049.876359; finalDepth = 1076.592360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.102226 # Actual altitude: 67.102226 # Commanded vehicle depth: 1076.59236 # Seafloor depth: -1136.849690 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.84; 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 16 # Segment length 145.776440 meters # Minimum depth: 1099.876359 meters looking forward 100.000000 meters along route # Maximum depth: 1123.338196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.876359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764424; longitude = -122.087560; duration = 291; # abortOnTimeout = True; initialDepth = 1042.827920; finalDepth = 1049.876359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4618369999998 # Actual altitude: 73.4618369999998 # Commanded vehicle depth: 1049.876359 # Seafloor depth: -1123.338196 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.38; 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 16 # Segment length 113.567305 meters # Minimum depth: 1092.827920 meters looking forward 100.000000 meters along route # Maximum depth: 1100.009744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.827920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765606; longitude = -122.086847; duration = 227; initialDepth = 1016.922492; finalDepth = 1042.827920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.4618369999998 # Actual altitude: 73.4618369999998 # Commanded vehicle depth: 1042.82792 # Seafloor depth: -1099.987384 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.38; 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 15 # Segment length 171.232904 meters # Minimum depth: 1066.922492 meters looking forward 100.000000 meters along route # Maximum depth: 1096.977051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.922492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766527; longitude = -122.086291; duration = 342; # abortOnTimeout = True; initialDepth = 1007.260147; finalDepth = 1016.922492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0545590000002 # Actual altitude: 80.0545590000002 # Commanded vehicle depth: 1016.922492 # Seafloor depth: -1096.977051 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.02; 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 15 # Segment length 111.722958 meters # Minimum depth: 1057.260147 meters looking forward 100.000000 meters along route # Maximum depth: 1063.244050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.260147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767836; longitude = -122.085274; duration = 223; initialDepth = 1002.580414; finalDepth = 1007.260147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.0545590000002 # Actual altitude: 80.0545590000002 # Commanded vehicle depth: 1007.260147 # Seafloor depth: -1063.244050 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.02; 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 14 # Segment length 88.459207 meters # Minimum depth: 1052.580414 meters looking forward 100.000000 meters along route # Maximum depth: 1058.412873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.580414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768690; longitude = -122.084611; duration = 176; # abortOnTimeout = True; initialDepth = 986.828248; finalDepth = 1002.580414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9839030000001 # Actual altitude: 55.9839030000001 # Commanded vehicle depth: 1002.580414 # Seafloor depth: -1052.580414 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.39; 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 14 # Segment length 117.382076 meters # Minimum depth: 1036.828248 meters looking forward 100.000000 meters along route # Maximum depth: 1053.534435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.828248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769413; longitude = -122.084194; duration = 234; initialDepth = 982.981607; finalDepth = 986.828248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.706187 # Actual altitude: 66.706187 # Commanded vehicle depth: 986.828248 # Seafloor depth: -1053.534435 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.68; 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 13 # Segment length 184.744205 meters # Minimum depth: 1032.981607 meters looking forward 100.000000 meters along route # Maximum depth: 1035.900879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.981607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770373; longitude = -122.083640; duration = 369; # abortOnTimeout = True; initialDepth = 976.047415; finalDepth = 982.981607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.706187 # Actual altitude: 66.706187 # Commanded vehicle depth: 982.981607 # Seafloor depth: -1035.900879 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.68; 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 12 # Segment length 176.107853 meters # Minimum depth: 1026.047415 meters looking forward 100.000000 meters along route # Maximum depth: 1033.466919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.047415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772025; longitude = -122.083379; duration = 352; # abortOnTimeout = True; initialDepth = 971.681073; finalDepth = 976.047415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.419504 # Actual altitude: 57.419504 # Commanded vehicle depth: 976.047415 # Seafloor depth: -1033.466919 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.97; 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 11 # Segment length 178.609545 meters # Minimum depth: 1021.681073 meters looking forward 100.000000 meters along route # Maximum depth: 1026.391266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.681073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773528; longitude = -122.082744; duration = 357; # abortOnTimeout = True; initialDepth = 949.770336; finalDepth = 971.681073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.419504 # Actual altitude: 57.419504 # Commanded vehicle depth: 971.681073 # Seafloor depth: -1026.391266 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.97; 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 10 # Segment length 176.894593 meters # Minimum depth: 999.770336 meters looking forward 100.000000 meters along route # Maximum depth: 1020.036026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.770336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775090; longitude = -122.082259; duration = 353; # abortOnTimeout = True; initialDepth = 935.905046; finalDepth = 949.770336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 70.2656899999999 # Actual altitude: 70.2656899999999 # Commanded vehicle depth: 949.770336 # Seafloor depth: -1020.036026 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 163.357842 meters # Minimum depth: 985.905046 meters looking forward 100.000000 meters along route # Maximum depth: 997.974518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.905046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776262; longitude = -122.080915; duration = 326; # abortOnTimeout = True; initialDepth = 915.717566; finalDepth = 935.905046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2656899999999 # Actual altitude: 70.2656899999999 # Commanded vehicle depth: 935.905046 # Seafloor depth: -997.974518 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 114.393429 meters # Minimum depth: 965.717566 meters looking forward 100.000000 meters along route # Maximum depth: 980.981402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.717566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777004; longitude = -122.079334; duration = 228; initialDepth = 883.954605; finalDepth = 915.717566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.263836 # Actual altitude: 65.263836 # Commanded vehicle depth: 915.717566 # Seafloor depth: -980.981402 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.11; 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 8 # Segment length 137.312547 meters # Minimum depth: 933.954605 meters looking forward 100.000000 meters along route # Maximum depth: 961.685974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.954605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.078227; duration = 274; # abortOnTimeout = True; initialDepth = 855.819150; finalDepth = 883.954605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.731369 # Actual altitude: 77.731369 # Commanded vehicle depth: 883.954605 # Seafloor depth: -961.685974 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.09; 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 8 # Segment length 105.430868 meters # Minimum depth: 905.819150 meters looking forward 100.000000 meters along route # Maximum depth: 927.665374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.819150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778374; longitude = -122.077108; duration = 210; initialDepth = 845.159457; finalDepth = 855.819150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.731369 # Actual altitude: 77.731369 # Commanded vehicle depth: 855.81915 # Seafloor depth: -927.665374 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.09; 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 7 # Segment length 108.481420 meters # Minimum depth: 895.159457 meters looking forward 100.000000 meters along route # Maximum depth: 902.270218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.159457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779026; longitude = -122.076249; duration = 216; # abortOnTimeout = True; initialDepth = 836.111271; finalDepth = 845.159457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.846224 # Actual altitude: 71.846224 # Commanded vehicle depth: 845.159457 # Seafloor depth: -902.270218 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.74; 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 7 # Segment length 114.863373 meters # Minimum depth: 886.111271 meters looking forward 100.000000 meters along route # Maximum depth: 892.858596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.111271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780004; longitude = -122.076231; duration = 229; initialDepth = 822.943050; finalDepth = 836.111271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.110761 # Actual altitude: 57.110761 # Commanded vehicle depth: 836.111271 # Seafloor depth: -892.858596 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.84; 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 6 # Segment length 97.367643 meters # Minimum depth: 872.943050 meters looking forward 100.000000 meters along route # Maximum depth: 884.812694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 822.943050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781039; longitude = -122.076211; duration = 194; # abortOnTimeout = True; initialDepth = 809.637138; finalDepth = 822.943050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7552840000001 # Actual altitude: 60.7552840000001 # Commanded vehicle depth: 822.94305 # Seafloor depth: -883.698334 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.30; 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 6 # Segment length 108.564933 meters # Minimum depth: 859.637138 meters looking forward 100.000000 meters along route # Maximum depth: 867.086540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.637138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781806; longitude = -122.076741; duration = 217; initialDepth = 807.283241; finalDepth = 809.637138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.7552840000001 # Actual altitude: 60.7552840000001 # Commanded vehicle depth: 809.637138 # Seafloor depth: -867.086540 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.30; 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 5 # Segment length 148.793822 meters # Minimum depth: 857.283241 meters looking forward 100.000000 meters along route # Maximum depth: 861.571319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.283241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782662; longitude = -122.077331; duration = 297; # abortOnTimeout = True; initialDepth = 808.100413; finalDepth = 807.283241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.449402 # Actual altitude: 57.449402 # Commanded vehicle depth: 807.283241 # Seafloor depth: -859.754944 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; 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 5 # Segment length 105.581637 meters # Minimum depth: 858.100413 meters looking forward 100.000000 meters along route # Maximum depth: 860.981090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.100413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783910; longitude = -122.077943; duration = 211; initialDepth = 795.708899; finalDepth = 808.100413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.471703 # Actual altitude: 52.471703 # Commanded vehicle depth: 808.100413 # Seafloor depth: -859.882720 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.99; 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 4 # Segment length 150.298934 meters # Minimum depth: 845.708899 meters looking forward 100.000000 meters along route # Maximum depth: 855.860672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.708899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784795; longitude = -122.078377; duration = 300; # abortOnTimeout = True; initialDepth = 784.493817; finalDepth = 795.708899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.151773 # Actual altitude: 60.151773 # Commanded vehicle depth: 795.708899 # Seafloor depth: -855.860672 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.06; 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 4 # Segment length 104.799207 meters # Minimum depth: 834.493817 meters looking forward 100.000000 meters along route # Maximum depth: 842.049021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.493817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786088; longitude = -122.078881; duration = 209; initialDepth = 746.204277; finalDepth = 784.493817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.151773 # Actual altitude: 60.151773 # Commanded vehicle depth: 784.493817 # Seafloor depth: -842.049021 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.06; 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 4 # Segment length 111.744365 meters # Minimum depth: 796.204277 meters looking forward 100.000000 meters along route # Maximum depth: 823.719520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.204277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786989; longitude = -122.079233; duration = 223; initialDepth = 731.106649; finalDepth = 746.204277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.5152429999999 # Actual altitude: 77.5152429999999 # Commanded vehicle depth: 746.204277 # Seafloor depth: -823.719520 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.01; 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 3 # Segment length 121.744339 meters # Minimum depth: 781.106649 meters looking forward 100.000000 meters along route # Maximum depth: 792.413025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.106649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787950; longitude = -122.079608; duration = 243; # abortOnTimeout = True; initialDepth = 723.562706; finalDepth = 731.106649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5152429999999 # Actual altitude: 77.5152429999999 # Commanded vehicle depth: 731.106649 # Seafloor depth: -792.413025 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.01; 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 3 # Segment length 102.848190 meters # Minimum depth: 773.562706 meters looking forward 100.000000 meters along route # Maximum depth: 780.189805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.562706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789017; longitude = -122.079927; duration = 205; initialDepth = 707.670497; finalDepth = 723.562706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.306376 # Actual altitude: 61.306376 # Commanded vehicle depth: 723.562706 # Seafloor depth: -780.189805 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.52; 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 3 # Segment length 102.848135 meters # Minimum depth: 757.670497 meters looking forward 100.000000 meters along route # Maximum depth: 772.564009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.670497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789918; longitude = -122.080197; duration = 205; initialDepth = 681.638409; finalDepth = 707.670497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8935120000001 # Actual altitude: 64.8935120000001 # Commanded vehicle depth: 707.670497 # Seafloor depth: -772.564009 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.96; 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 3 # Segment length 102.848077 meters # Minimum depth: 731.638409 meters looking forward 100.000000 meters along route # Maximum depth: 756.539700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.638409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790820; longitude = -122.080467; duration = 205; initialDepth = 659.796757; finalDepth = 681.638409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.901291 # Actual altitude: 74.901291 # Commanded vehicle depth: 681.638409 # Seafloor depth: -756.539700 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.96; 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 3 # Segment length 102.848022 meters # Minimum depth: 709.796757 meters looking forward 100.000000 meters along route # Maximum depth: 730.454306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.796757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791721; longitude = -122.080737; duration = 205; initialDepth = 636.701471; finalDepth = 659.796757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.901291 # Actual altitude: 74.901291 # Commanded vehicle depth: 659.796757 # Seafloor depth: -730.454306 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.96; 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 3 # Segment length 104.892882 meters # Minimum depth: 686.701471 meters looking forward 100.000000 meters along route # Maximum depth: 709.479923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.701471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792622; longitude = -122.081007; duration = 209; initialDepth = 612.707305; finalDepth = 636.701471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.778452 # Actual altitude: 72.778452 # Commanded vehicle depth: 636.701471 # Seafloor depth: -709.479923 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.11; 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 3 # Segment length 116.342341 meters # Minimum depth: 662.707305 meters looking forward 100.000000 meters along route # Maximum depth: 686.281286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.707305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793541; longitude = -122.081282; duration = 232; initialDepth = 576.834183; finalDepth = 612.707305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.573981 # Actual altitude: 73.573981 # Commanded vehicle depth: 612.707305 # Seafloor depth: -686.281286 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.43; 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 2 # Segment length 160.650135 meters # Minimum depth: 626.834183 meters looking forward 100.000000 meters along route # Maximum depth: 662.375153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.834183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794561; longitude = -122.081587; duration = 321; # abortOnTimeout = True; initialDepth = 555.191576; finalDepth = 576.834183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.5409699999999 # Actual altitude: 85.5409699999999 # Commanded vehicle depth: 576.834183 # Seafloor depth: -662.375153 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.22; 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 2 # Segment length 100.474830 meters # Minimum depth: 605.191576 meters looking forward 100.000000 meters along route # Maximum depth: 621.489576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.191576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796002; longitude = -122.081410; duration = 200; initialDepth = 529.666609; finalDepth = 555.191576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.5409699999999 # Actual altitude: 85.5409699999999 # Commanded vehicle depth: 555.191576 # Seafloor depth: -621.489576 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.22; 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 2 # Segment length 100.474836 meters # Minimum depth: 579.666609 meters looking forward 100.000000 meters along route # Maximum depth: 600.034785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.666609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796903; longitude = -122.081300; duration = 200; initialDepth = 503.609084; finalDepth = 529.666609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.3681760000001 # Actual altitude: 70.3681760000001 # Commanded vehicle depth: 529.666609 # Seafloor depth: -600.034785 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.15; 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 2 # Segment length 100.474841 meters # Minimum depth: 553.609084 meters looking forward 100.000000 meters along route # Maximum depth: 573.668355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.609084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797805; longitude = -122.081190; duration = 200; initialDepth = 473.156102; finalDepth = 503.609084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.3681760000001 # Actual altitude: 70.3681760000001 # Commanded vehicle depth: 503.609084 # Seafloor depth: -573.668355 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.15; 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 2 # Segment length 100.474846 meters # Minimum depth: 523.156102 meters looking forward 100.000000 meters along route # Maximum depth: 545.546868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.156102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798706; longitude = -122.081079; duration = 200; initialDepth = 437.286942; finalDepth = 473.156102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.390766 # Actual altitude: 72.390766 # Commanded vehicle depth: 473.156102 # Seafloor depth: -545.546868 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.96; 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 2 # Segment length 117.339733 meters # Minimum depth: 487.286942 meters looking forward 100.000000 meters along route # Maximum depth: 516.968686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.286942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799607; longitude = -122.080969; duration = 234; initialDepth = 415.608379; finalDepth = 437.286942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.681744 # Actual altitude: 79.681744 # Commanded vehicle depth: 437.286942 # Seafloor depth: -516.968686 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.87; 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 1 # Segment length 85.382657 meters # Minimum depth: 465.608379 meters looking forward 100.000000 meters along route # Maximum depth: 483.319122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.608379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800660; longitude = -122.080840; duration = 170; # abortOnTimeout = True; initialDepth = 389.294883; finalDepth = 415.608379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.681744 # Actual altitude: 79.681744 # Commanded vehicle depth: 415.608379 # Seafloor depth: -483.319122 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.87; 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 1 # Segment length 102.605057 meters # Minimum depth: 439.294883 meters looking forward 100.000000 meters along route # Maximum depth: 460.598862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.294883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801410; longitude = -122.081055; duration = 205; initialDepth = 358.668570; finalDepth = 389.294883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.303979 # Actual altitude: 71.303979 # Commanded vehicle depth: 389.294883 # Seafloor depth: -460.598862 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.52; 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 1 # Segment length 102.605007 meters # Minimum depth: 408.668570 meters looking forward 100.000000 meters along route # Maximum depth: 435.708883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.668570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802311; longitude = -122.081313; duration = 205; initialDepth = 334.579760; finalDepth = 358.668570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.040313 # Actual altitude: 77.040313 # Commanded vehicle depth: 358.66857 # Seafloor depth: -435.708883 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.82; 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 1 # Segment length 102.604955 meters # Minimum depth: 384.579760 meters looking forward 100.000000 meters along route # Maximum depth: 407.265958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.579760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803213; longitude = -122.081571; duration = 205; initialDepth = 303.113584; finalDepth = 334.579760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.040313 # Actual altitude: 77.040313 # Commanded vehicle depth: 334.57976 # Seafloor depth: -407.265958 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.82; 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 1 # Segment length 102.604905 meters # Minimum depth: 353.113584 meters looking forward 100.000000 meters along route # Maximum depth: 377.229289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.113584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804114; longitude = -122.081829; duration = 205; initialDepth = 274.438954; finalDepth = 303.113584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.115705 # Actual altitude: 74.115705 # Commanded vehicle depth: 303.113584 # Seafloor depth: -377.229289 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.65; 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 1 # Segment length 102.604855 meters # Minimum depth: 324.438954 meters looking forward 100.000000 meters along route # Maximum depth: 345.186777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.438954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805015; longitude = -122.082086; duration = 205; initialDepth = 241.601206; finalDepth = 274.438954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.115705 # Actual altitude: 74.115705 # Commanded vehicle depth: 274.438954 # Seafloor depth: -345.186777 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.65; 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 1 # Segment length 102.604804 meters # Minimum depth: 291.601206 meters looking forward 100.000000 meters along route # Maximum depth: 315.604879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.601206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805917; longitude = -122.082344; duration = 205; initialDepth = 199.670489; finalDepth = 241.601206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.003673 # Actual altitude: 74.003673 # Commanded vehicle depth: 241.601206 # Seafloor depth: -315.604879 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.60; 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 1 # Segment length 102.604753 meters # Minimum depth: 249.670489 meters looking forward 100.000000 meters along route # Maximum depth: 282.452485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.670489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806818; longitude = -122.082602; duration = 205; initialDepth = 157.775616; finalDepth = 199.670489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.781996 # Actual altitude: 82.781996 # Commanded vehicle depth: 199.670489 # Seafloor depth: -282.452485 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.11; 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 1 # Segment length 102.604702 meters # Minimum depth: 207.775616 meters looking forward 100.000000 meters along route # Maximum depth: 241.409067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.775616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807719; longitude = -122.082860; duration = 205; initialDepth = 115.580300; finalDepth = 157.775616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.633451 # Actual altitude: 83.633451 # Commanded vehicle depth: 157.775616 # Seafloor depth: -241.409067 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.45; 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 1 # Segment length 102.604652 meters # Minimum depth: 165.580300 meters looking forward 100.000000 meters along route # Maximum depth: 194.615046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.580300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808621; longitude = -122.083118; duration = 205; initialDepth = 82.766769; finalDepth = 115.580300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.633451 # Actual altitude: 83.633451 # Commanded vehicle depth: 115.5803 # Seafloor depth: -194.615046 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.45; 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 1 # Segment length 102.604601 meters # Minimum depth: 132.766769 meters looking forward 100.000000 meters along route # Maximum depth: 156.325976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.766769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809522; longitude = -122.083376; duration = 205; initialDepth = 69.150409; finalDepth = 82.766769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.034746 # Actual altitude: 79.034746 # Commanded vehicle depth: 82.766769 # Seafloor depth: -156.325976 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.61; 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 1 # Segment length 102.604551 meters # Minimum depth: 119.150409 meters looking forward 100.000000 meters along route # Maximum depth: 129.639778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.150409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810423; longitude = -122.083634; duration = 205; initialDepth = 64.747921; finalDepth = 69.150409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.559207 # Actual altitude: 73.559207 # Commanded vehicle depth: 69.150409 # Seafloor depth: -129.639778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.42; 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 1 # Segment length 102.604500 meters # Minimum depth: 114.747921 meters looking forward 100.000000 meters along route # Maximum depth: 116.691006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.747921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811325; longitude = -122.083892; duration = 205; initialDepth = 63.290352; finalDepth = 64.747921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.489369 # Actual altitude: 60.489369 # Commanded vehicle depth: 64.747921 # Seafloor depth: -116.691006 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.20; 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 1 # Segment length 102.604449 meters # Minimum depth: 113.290352 meters looking forward 100.000000 meters along route # Maximum depth: 114.483997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.290352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812226; longitude = -122.084150; duration = 205; initialDepth = 61.655847; finalDepth = 63.290352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.943085 # Actual altitude: 51.943085 # Commanded vehicle depth: 63.290352 # Seafloor depth: -114.483997 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.78; 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 1 # Segment length 102.604399 meters # Minimum depth: 111.655847 meters looking forward 100.000000 meters along route # Maximum depth: 113.056296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.655847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813127; longitude = -122.084408; duration = 205; initialDepth = 60.506744; finalDepth = 61.655847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.400449 # Actual altitude: 51.400449 # Commanded vehicle depth: 61.655847 # Seafloor depth: -113.056296 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 1 # Segment length 102.604348 meters # Minimum depth: 110.506744 meters looking forward 100.000000 meters along route # Maximum depth: 111.803598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.506744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814028; longitude = -122.084666; duration = 205; initialDepth = 59.910854; finalDepth = 60.506744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.400449 # Actual altitude: 51.400449 # Commanded vehicle depth: 60.506744 # Seafloor depth: -111.803598 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 1 # Segment length 100.746598 meters # Minimum depth: 109.910854 meters looking forward 100.000000 meters along route # Maximum depth: 110.464071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.910854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814930; longitude = -122.084924; duration = 201; initialDepth = 59.037465; finalDepth = 59.910854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.296854 # Actual altitude: 51.296854 # Commanded vehicle depth: 59.910854 # Seafloor depth: -110.464071 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.52; 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 1 # Segment length 101.339745 meters # Minimum depth: 109.037465 meters looking forward 100.000000 meters along route # Maximum depth: 109.891865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.037465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815815; longitude = -122.085177; duration = 202; initialDepth = 58.920246; finalDepth = 59.037465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8544 # Actual altitude: 50.8544 # Commanded vehicle depth: 59.037465 # Seafloor depth: -109.891865 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8544 # Sonar parameter altitude: 50.8544 # Commanded vehicle depth: 58.920246 # Seafloor depth: -108.920246 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 175.00; HiSS_Mode = 0; HiSS_Power = 100.0; HiSS_Range = 175; MB_Power = 220; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; 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; 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: 108.920246 meters looking forward 100.000000 meters along route # Maximum depth: 109.882396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1557.683491 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.920246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816705; longitude = -122.085432; duration = 600; initialDepth = 58.920246; finalDepth = 58.920246; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 291.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 291.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 175.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 175; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; 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; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################