# 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_2v1.rte # Mission File: 2011_ExtrovertCliff_2v1.cfg # Distance: 82409.517998 (m) # Estimated Time: 57006 (s) 15.835 (hr) # Abort Time: 61579 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1420 (s) # Way Points: 53 # Route Points: 737 # 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 disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Delta Depth Restart: 20 (m) # Maximum Vehicle Depth: 1427.672863 (m) # Abort Vehicle Depth: 1452.672863 (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 -122.107020 36.815541 -115.452077 0.000000 3 # 1 -122.116295 36.775661 -653.839681 4500.969709 1 # 2 -122.113698 36.764346 -957.439046 5777.434547 1 # 3 -122.102939 36.738934 -1420.799154 8755.697620 3 # 4 -122.129352 36.730436 -1401.904968 11295.527915 4 # 5 -122.129995 36.731685 -1393.557037 11445.527915 3 # 6 -122.115367 36.736522 -1444.616536 12857.592149 4 # 7 -122.114069 36.738377 -1435.264811 13093.780555 3 # 8 -122.130638 36.732935 -1379.522003 14691.711135 4 # 9 -122.131281 36.734184 -1367.082672 14841.711135 3 # 10 -122.113512 36.740047 -1430.239421 16556.398704 4 # 11 -122.112028 36.742087 -1416.659505 16818.677610 3 # 12 -122.131924 36.735433 -1349.690002 18742.371659 4 # 13 -122.132567 36.736682 -1334.794952 18892.371659 3 # 14 -122.110915 36.743756 -1415.675456 20978.780740 4 # 15 -122.109246 36.745982 -1408.973145 21267.207608 3 # 16 -122.133210 36.737931 -1322.508972 23585.752854 4 # 17 -122.133854 36.739180 -1307.466309 23735.752854 3 # 18 -122.108690 36.747652 -1381.851562 26171.059297 4 # 19 -122.107391 36.749507 -1358.043457 26407.240093 3 # 20 -122.134497 36.740429 -1291.912750 29028.360050 4 # 21 -122.135140 36.741678 -1283.601746 29178.360050 3 # 22 -122.106278 36.751176 -1340.611003 31962.154052 4 # 23 -122.104794 36.753216 -1300.977539 32224.423987 3 # 24 -122.135783 36.742928 -1283.749634 35217.179388 4 # 25 -122.136426 36.744177 -1293.113464 35367.179388 3 # 26 -122.104238 36.754886 -1258.974121 38476.676316 4 # 27 -122.103681 36.756555 -1225.496490 38668.422750 3 # 28 -122.137070 36.745426 -1299.894897 41894.660846 4 # 29 -122.137713 36.746675 -1305.626434 42044.660846 3 # 30 -122.104324 36.757804 -1184.079346 45270.898942 4 # 31 -122.104967 36.759054 -1181.544647 45420.898942 3 # 32 -122.138356 36.747924 -1306.678925 48647.137038 4 # 33 -122.138999 36.749173 -1304.080658 48797.137038 3 # 34 -122.105610 36.760303 -1151.545410 52023.375134 4 # 35 -122.106253 36.761552 -1114.002747 52173.375134 3 # 36 -122.139643 36.750422 -1299.363434 55399.613230 4 # 37 -122.140286 36.751671 -1287.008545 55549.613230 3 # 38 -122.106896 36.762802 -1084.285797 58775.851326 4 # 39 -122.107538 36.764051 -1029.208847 58925.851326 3 # 40 -122.140929 36.752920 -1270.625000 62152.089422 4 # 41 -122.141573 36.754169 -1245.591187 62302.089422 3 # 42 -122.108181 36.765300 -966.442505 65528.327518 4 # 43 -122.108824 36.766549 -929.390289 65678.327518 3 # 44 -122.142216 36.755418 -1231.206909 68904.565614 4 # 45 -122.142860 36.756668 -1219.638977 69054.565614 3 # 46 -122.109467 36.767799 -889.500793 72280.803710 4 # 47 -122.110110 36.769048 -858.256073 72430.803710 3 # 48 -122.143503 36.757917 -1208.914551 75657.041806 4 # 49 -122.144147 36.759166 -1191.662842 75807.041806 3 # 50 -122.110753 36.770297 -804.827972 79033.279902 4 # 51 -122.111396 36.771546 -773.653671 79183.279902 3 # 52 -122.144790 36.760415 -1183.663147 82409.517998 4 # # A total of 737 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61579; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1427.672863; abortDepth = 1452.672863; 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 = 1420; 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 52 # Segment length 82.837033 meters # Minimum depth: 1183.663147 meters looking forward 100.000000 meters along route # Maximum depth: 1185.845195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.663147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760415; longitude = -122.144790; duration = 165; # abortOnTimeout = True; initialDepth = 1138.629753; finalDepth = 1133.663147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1133.663147 # Seafloor depth: -1183.663147 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.529427 meters # Minimum depth: 1188.629753 meters looking forward 100.000000 meters along route # Maximum depth: 1193.276265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.629753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760701; longitude = -122.143933; duration = 215; initialDepth = 1148.831053; finalDepth = 1138.629753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1138.629753 # Seafloor depth: -1188.629753 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.529005 meters # Minimum depth: 1198.831053 meters looking forward 100.000000 meters along route # Maximum depth: 1203.401736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.831053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761072; longitude = -122.142820; duration = 215; initialDepth = 1152.253386; finalDepth = 1148.831053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1148.831053 # Seafloor depth: -1198.831053 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.528585 meters # Minimum depth: 1202.253386 meters looking forward 100.000000 meters along route # Maximum depth: 1203.746592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.253386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761443; longitude = -122.141707; duration = 215; initialDepth = 1144.048833; finalDepth = 1152.253386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4932059999999 # Actual altitude: 51.4932059999999 # Commanded vehicle depth: 1152.253386 # Seafloor depth: -1203.746592 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.528164 meters # Minimum depth: 1194.048833 meters looking forward 100.000000 meters along route # Maximum depth: 1198.150985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.048833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761814; longitude = -122.140594; duration = 215; initialDepth = 1135.206679; finalDepth = 1144.048833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1021519999999 # Actual altitude: 54.1021519999999 # Commanded vehicle depth: 1144.048833 # Seafloor depth: -1198.150985 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.64; 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 107.527743 meters # Minimum depth: 1185.206679 meters looking forward 100.000000 meters along route # Maximum depth: 1189.102419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.206679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762184; longitude = -122.139481; duration = 215; initialDepth = 1134.848483; finalDepth = 1135.206679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1021519999999 # Actual altitude: 54.1021519999999 # Commanded vehicle depth: 1135.206679 # Seafloor depth: -1189.102419 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.64; 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 107.527322 meters # Minimum depth: 1184.848483 meters looking forward 100.000000 meters along route # Maximum depth: 1185.317613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.848483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762555; longitude = -122.138368; duration = 215; initialDepth = 1136.024853; finalDepth = 1134.848483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8957400000002 # Actual altitude: 53.8957400000002 # Commanded vehicle depth: 1134.848483 # Seafloor depth: -1184.848483 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.56; 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 52 # Segment length 107.526902 meters # Minimum depth: 1186.024853 meters looking forward 100.000000 meters along route # Maximum depth: 1188.073094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.024853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762926; longitude = -122.137255; duration = 215; initialDepth = 1140.117020; finalDepth = 1136.024853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1136.024853 # Seafloor depth: -1186.024853 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.526480 meters # Minimum depth: 1190.117020 meters looking forward 100.000000 meters along route # Maximum depth: 1192.421943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.117020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763297; longitude = -122.136142; duration = 215; initialDepth = 1141.505392; finalDepth = 1140.117020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1140.11702 # Seafloor depth: -1190.117020 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 52 # Segment length 107.526060 meters # Minimum depth: 1191.505392 meters looking forward 100.000000 meters along route # Maximum depth: 1192.376315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.505392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763668; longitude = -122.135029; duration = 215; initialDepth = 1138.128767; finalDepth = 1141.505392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8709229999999 # Actual altitude: 50.8709229999999 # Commanded vehicle depth: 1141.505392 # Seafloor depth: -1192.376315 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.35; 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 52 # Segment length 107.525639 meters # Minimum depth: 1188.128767 meters looking forward 100.000000 meters along route # Maximum depth: 1190.863002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.128767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764039; longitude = -122.133916; duration = 215; initialDepth = 1125.419491; finalDepth = 1138.128767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7342350000001 # Actual altitude: 52.7342350000001 # Commanded vehicle depth: 1138.128767 # Seafloor depth: -1190.863002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 52 # Segment length 107.525218 meters # Minimum depth: 1175.419491 meters looking forward 100.000000 meters along route # Maximum depth: 1182.689144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.419491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764410; longitude = -122.132803; duration = 215; initialDepth = 1119.754070; finalDepth = 1125.419491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2696529999998 # Actual altitude: 57.2696529999998 # Commanded vehicle depth: 1125.419491 # Seafloor depth: -1182.689144 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.91; 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 107.524797 meters # Minimum depth: 1169.754070 meters looking forward 100.000000 meters along route # Maximum depth: 1174.354207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.754070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764781; longitude = -122.131690; duration = 215; initialDepth = 1111.260779; finalDepth = 1119.754070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2696529999998 # Actual altitude: 57.2696529999998 # Commanded vehicle depth: 1119.75407 # Seafloor depth: -1174.354207 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.91; 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 107.524377 meters # Minimum depth: 1161.260779 meters looking forward 100.000000 meters along route # Maximum depth: 1166.429137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.260779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765152; longitude = -122.130577; duration = 215; initialDepth = 1087.969370; finalDepth = 1111.260779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1683580000001 # Actual altitude: 55.1683580000001 # Commanded vehicle depth: 1111.260779 # Seafloor depth: -1166.429137 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.07; 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 52 # Segment length 107.523956 meters # Minimum depth: 1137.969370 meters looking forward 100.000000 meters along route # Maximum depth: 1152.255164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.969370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765523; longitude = -122.129464; duration = 215; initialDepth = 1070.977949; finalDepth = 1087.969370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2857939999999 # Actual altitude: 64.2857939999999 # Commanded vehicle depth: 1087.96937 # Seafloor depth: -1152.255164 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.523535 meters # Minimum depth: 1120.977949 meters looking forward 100.000000 meters along route # Maximum depth: 1134.450885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.977949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765894; longitude = -122.128351; duration = 215; initialDepth = 1016.977717; finalDepth = 1070.977949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2857939999999 # Actual altitude: 64.2857939999999 # Commanded vehicle depth: 1070.977949 # Seafloor depth: -1134.450885 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.523115 meters # Minimum depth: 1066.977717 meters looking forward 100.000000 meters along route # Maximum depth: 1103.991663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.977717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766265; longitude = -122.127239; duration = 215; initialDepth = 953.561125; finalDepth = 1016.977717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.013946 # Actual altitude: 87.013946 # Commanded vehicle depth: 1016.977717 # Seafloor depth: -1103.991663 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.81; 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 52 # Segment length 107.522694 meters # Minimum depth: 1003.561125 meters looking forward 100.000000 meters along route # Maximum depth: 1038.042220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.561125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766636; longitude = -122.126126; duration = 215; initialDepth = 930.068057; finalDepth = 953.561125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.013946 # Actual altitude: 87.013946 # Commanded vehicle depth: 953.561125 # Seafloor depth: -1038.042220 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.81; 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 52 # Segment length 107.522273 meters # Minimum depth: 980.068057 meters looking forward 100.000000 meters along route # Maximum depth: 998.203196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.068057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767007; longitude = -122.125013; duration = 215; initialDepth = 888.565390; finalDepth = 930.068057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.4810950000001 # Actual altitude: 84.4810950000001 # Commanded vehicle depth: 930.068057 # Seafloor depth: -998.203196 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.79; 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 52 # Segment length 107.521853 meters # Minimum depth: 938.565390 meters looking forward 100.000000 meters along route # Maximum depth: 959.326831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.565390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767378; longitude = -122.123900; duration = 215; initialDepth = 853.972743; finalDepth = 888.565390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.761441 # Actual altitude: 70.761441 # Commanded vehicle depth: 888.56539 # Seafloor depth: -959.326831 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.30; 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 52 # Segment length 107.521432 meters # Minimum depth: 903.972743 meters looking forward 100.000000 meters along route # Maximum depth: 924.836701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.972743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767749; longitude = -122.122787; duration = 215; initialDepth = 850.045418; finalDepth = 853.972743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8639579999999 # Actual altitude: 70.8639579999999 # Commanded vehicle depth: 853.972743 # Seafloor depth: -924.836701 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.35; 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 52 # Segment length 107.521012 meters # Minimum depth: 900.045418 meters looking forward 100.000000 meters along route # Maximum depth: 901.494073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.045418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768120; longitude = -122.121674; duration = 215; initialDepth = 841.748050; finalDepth = 850.045418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8639579999999 # Actual altitude: 70.8639579999999 # Commanded vehicle depth: 850.045418 # Seafloor depth: -900.045418 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.35; 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 52 # Segment length 107.520591 meters # Minimum depth: 891.748050 meters looking forward 100.000000 meters along route # Maximum depth: 903.956481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.748050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768491; longitude = -122.120561; duration = 215; initialDepth = 824.343572; finalDepth = 841.748050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.208431 # Actual altitude: 62.208431 # Commanded vehicle depth: 841.74805 # Seafloor depth: -903.956481 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.88; 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 52 # Segment length 107.520170 meters # Minimum depth: 874.343572 meters looking forward 100.000000 meters along route # Maximum depth: 881.121067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.343572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768862; longitude = -122.119448; duration = 215; initialDepth = 793.643400; finalDepth = 824.343572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.208431 # Actual altitude: 62.208431 # Commanded vehicle depth: 824.343572 # Seafloor depth: -881.091749 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.88; 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 52 # Segment length 107.519751 meters # Minimum depth: 843.643400 meters looking forward 100.000000 meters along route # Maximum depth: 869.932130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.643400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769233; longitude = -122.118335; duration = 215; initialDepth = 760.718998; finalDepth = 793.643400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.28873 # Actual altitude: 76.28873 # Commanded vehicle depth: 793.6434 # Seafloor depth: -869.932130 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.52; 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 52 # Segment length 107.519329 meters # Minimum depth: 810.718998 meters looking forward 100.000000 meters along route # Maximum depth: 821.224763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.718998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769604; longitude = -122.117222; duration = 215; initialDepth = 747.524709; finalDepth = 760.718998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.28873 # Actual altitude: 76.28873 # Commanded vehicle depth: 760.718998 # Seafloor depth: -821.224763 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.52; 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 52 # Segment length 107.518910 meters # Minimum depth: 797.524709 meters looking forward 100.000000 meters along route # Maximum depth: 807.422677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.524709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769975; longitude = -122.116109; duration = 215; initialDepth = 740.317563; finalDepth = 747.524709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.505765 # Actual altitude: 60.505765 # Commanded vehicle depth: 747.524709 # Seafloor depth: -807.422677 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 52 # Segment length 107.518488 meters # Minimum depth: 790.317563 meters looking forward 100.000000 meters along route # Maximum depth: 795.338430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.317563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770346; longitude = -122.114996; duration = 215; initialDepth = 731.789170; finalDepth = 740.317563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.897968 # Actual altitude: 59.897968 # Commanded vehicle depth: 740.317563 # Seafloor depth: -795.338430 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.96; 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 52 # Segment length 107.518069 meters # Minimum depth: 781.789170 meters looking forward 100.000000 meters along route # Maximum depth: 785.403153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.789170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770717; longitude = -122.113883; duration = 215; initialDepth = 725.168610; finalDepth = 731.789170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0208670000001 # Actual altitude: 55.0208670000001 # Commanded vehicle depth: 731.78917 # Seafloor depth: -785.403153 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.01; 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 52 # Segment length 132.736166 meters # Minimum depth: 775.168610 meters looking forward 100.000000 meters along route # Maximum depth: 778.560738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.168610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771088; longitude = -122.112770; duration = 265; initialDepth = 723.653671; finalDepth = 725.168610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.613983 # Actual altitude: 53.613983 # Commanded vehicle depth: 725.16861 # Seafloor depth: -778.560738 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.45; 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; } # ####################################################### # # 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 150.000000 meters # Minimum depth: 773.653671 meters looking forward 100.000000 meters along route # Maximum depth: 796.227351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.653671 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771546; longitude = -122.111396; duration = 300; # abortOnTimeout = True; initialDepth = 754.827972; finalDepth = 723.653671; 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: 53.3921280000001 # Actual altitude: 53.3921280000001 # Commanded vehicle depth: 723.653671 # Seafloor depth: -773.653671 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 to get to end of line 50 # Segment length 87.340940 meters # Minimum depth: 804.827972 meters looking forward 100.000000 meters along route # Maximum depth: 811.512522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.827972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770297; longitude = -122.110753; duration = 174; # abortOnTimeout = True; initialDepth = 763.478220; finalDepth = 754.827972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.827972 # Seafloor depth: -804.827972 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.519360 meters # Minimum depth: 813.478220 meters looking forward 100.000000 meters along route # Maximum depth: 815.031259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.478220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769996; longitude = -122.111657; duration = 215; initialDepth = 766.260282; finalDepth = 763.478220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 763.47822 # Seafloor depth: -813.478220 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.519780 meters # Minimum depth: 816.260282 meters looking forward 100.000000 meters along route # Maximum depth: 819.777894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.260282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769625; longitude = -122.112770; duration = 215; initialDepth = 773.673465; finalDepth = 766.260282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 766.260282 # Seafloor depth: -816.260282 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.520201 meters # Minimum depth: 823.673465 meters looking forward 100.000000 meters along route # Maximum depth: 829.333642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.673465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769254; longitude = -122.113883; duration = 215; initialDepth = 783.698001; finalDepth = 773.673465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 773.673465 # Seafloor depth: -823.673465 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.520621 meters # Minimum depth: 833.698001 meters looking forward 100.000000 meters along route # Maximum depth: 846.637808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.698001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768883; longitude = -122.114996; duration = 215; initialDepth = 803.439392; finalDepth = 783.698001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 783.698001 # Seafloor depth: -833.698001 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.521041 meters # Minimum depth: 853.439392 meters looking forward 100.000000 meters along route # Maximum depth: 862.259062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.439392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768512; longitude = -122.116109; duration = 215; initialDepth = 830.766158; finalDepth = 803.439392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 803.439392 # Seafloor depth: -853.439392 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.521462 meters # Minimum depth: 880.766158 meters looking forward 100.000000 meters along route # Maximum depth: 911.915124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.766158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768141; longitude = -122.117222; duration = 215; initialDepth = 880.904238; finalDepth = 830.766158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 830.766158 # Seafloor depth: -880.766158 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.521883 meters # Minimum depth: 940.958204 meters looking forward 100.000000 meters along route # Maximum depth: 958.665945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.904238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767770; longitude = -122.118335; duration = 215; initialDepth = 911.804810; finalDepth = 880.904238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0539658276846 # Actual altitude: 60.0539658276846 # Commanded vehicle depth: 880.904238172315 # Seafloor depth: -940.958204 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 50 # Segment length 107.522302 meters # Minimum depth: 961.804810 meters looking forward 100.000000 meters along route # Maximum depth: 975.566083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.804810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767399; longitude = -122.119448; duration = 215; initialDepth = 932.270250; finalDepth = 911.804810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0539658276846 # Actual altitude: 60.0539658276846 # Commanded vehicle depth: 911.80481 # Seafloor depth: -961.804810 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 50 # Segment length 107.522724 meters # Minimum depth: 982.270250 meters looking forward 100.000000 meters along route # Maximum depth: 986.202844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.270250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767028; longitude = -122.120561; duration = 215; initialDepth = 932.778055; finalDepth = 932.270250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 932.27025 # Seafloor depth: -982.270250 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.523144 meters # Minimum depth: 982.778055 meters looking forward 100.000000 meters along route # Maximum depth: 998.846769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.778055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766657; longitude = -122.121674; duration = 215; initialDepth = 956.884247; finalDepth = 932.778055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 932.778055 # Seafloor depth: -982.778055 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.523564 meters # Minimum depth: 1006.884247 meters looking forward 100.000000 meters along route # Maximum depth: 1008.485865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.884247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766286; longitude = -122.122787; duration = 215; initialDepth = 964.398286; finalDepth = 956.884247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 956.884247 # Seafloor depth: -1006.884247 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.523985 meters # Minimum depth: 1014.398286 meters looking forward 100.000000 meters along route # Maximum depth: 1030.991885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.398286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765915; longitude = -122.123900; duration = 215; initialDepth = 1011.957062; finalDepth = 964.398286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.398286 # Seafloor depth: -1014.398286 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.524406 meters # Minimum depth: 1061.957062 meters looking forward 100.000000 meters along route # Maximum depth: 1108.088894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.957062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765544; longitude = -122.125013; duration = 215; initialDepth = 1062.096515; finalDepth = 1011.957062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1011.957062 # Seafloor depth: -1061.957062 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.524826 meters # Minimum depth: 1116.793576 meters looking forward 100.000000 meters along route # Maximum depth: 1125.183467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.096515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765173; longitude = -122.126126; duration = 215; initialDepth = 1083.285455; finalDepth = 1062.096515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6970610179555 # Actual altitude: 54.6970610179555 # Commanded vehicle depth: 1062.09651498204 # Seafloor depth: -1116.793576 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.88; 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 50 # Segment length 107.525247 meters # Minimum depth: 1133.285455 meters looking forward 100.000000 meters along route # Maximum depth: 1141.841260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.285455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764802; longitude = -122.127239; duration = 215; initialDepth = 1097.701281; finalDepth = 1083.285455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6970610179555 # Actual altitude: 54.6970610179555 # Commanded vehicle depth: 1083.285455 # Seafloor depth: -1133.285455 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.88; 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 50 # Segment length 107.525668 meters # Minimum depth: 1147.701281 meters looking forward 100.000000 meters along route # Maximum depth: 1161.375119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.701281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764431; longitude = -122.128351; duration = 215; initialDepth = 1116.627568; finalDepth = 1097.701281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1097.701281 # Seafloor depth: -1147.701281 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.526088 meters # Minimum depth: 1166.627568 meters looking forward 100.000000 meters along route # Maximum depth: 1175.508827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.627568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764060; longitude = -122.129464; duration = 215; initialDepth = 1133.891733; finalDepth = 1116.627568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1116.627568 # Seafloor depth: -1166.627568 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.526509 meters # Minimum depth: 1183.891733 meters looking forward 100.000000 meters along route # Maximum depth: 1188.696779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.891733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763689; longitude = -122.130577; duration = 215; initialDepth = 1141.579354; finalDepth = 1133.891733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1133.891733 # Seafloor depth: -1183.891733 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.526929 meters # Minimum depth: 1191.579354 meters looking forward 100.000000 meters along route # Maximum depth: 1197.667281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.579354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763318; longitude = -122.131690; duration = 215; initialDepth = 1149.878252; finalDepth = 1141.579354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1141.579354 # Seafloor depth: -1191.579354 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.527351 meters # Minimum depth: 1199.878252 meters looking forward 100.000000 meters along route # Maximum depth: 1203.165038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.878252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762947; longitude = -122.132803; duration = 215; initialDepth = 1153.058338; finalDepth = 1149.878252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1149.878252 # Seafloor depth: -1199.878252 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.527771 meters # Minimum depth: 1203.058338 meters looking forward 100.000000 meters along route # Maximum depth: 1203.960578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.058338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762576; longitude = -122.133916; duration = 215; initialDepth = 1153.269837; finalDepth = 1153.058338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9022399999999 # Actual altitude: 50.9022399999999 # Commanded vehicle depth: 1153.058338 # Seafloor depth: -1203.960578 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.528192 meters # Minimum depth: 1203.269837 meters looking forward 100.000000 meters along route # Maximum depth: 1203.546847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.269837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762205; longitude = -122.135029; duration = 215; initialDepth = 1150.400519; finalDepth = 1153.269837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9022399999999 # Actual altitude: 50.9022399999999 # Commanded vehicle depth: 1153.269837 # Seafloor depth: -1203.269837 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.528613 meters # Minimum depth: 1200.400519 meters looking forward 100.000000 meters along route # Maximum depth: 1202.735922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.400519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761834; longitude = -122.136142; duration = 215; initialDepth = 1147.977402; finalDepth = 1150.400519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.335403 # Actual altitude: 52.335403 # Commanded vehicle depth: 1150.400519 # Seafloor depth: -1202.735922 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.529034 meters # Minimum depth: 1197.977402 meters looking forward 100.000000 meters along route # Maximum depth: 1199.043255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.977402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761463; longitude = -122.137255; duration = 215; initialDepth = 1148.593468; finalDepth = 1147.977402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.335403 # Actual altitude: 52.335403 # Commanded vehicle depth: 1147.977402 # Seafloor depth: -1199.043255 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.529454 meters # Minimum depth: 1198.593468 meters looking forward 100.000000 meters along route # Maximum depth: 1204.920857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.593468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761092; longitude = -122.138368; duration = 215; initialDepth = 1157.112458; finalDepth = 1148.593468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0658530000001 # Actual altitude: 51.0658530000001 # Commanded vehicle depth: 1148.593468 # Seafloor depth: -1198.593468 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.529875 meters # Minimum depth: 1207.112458 meters looking forward 100.000000 meters along route # Maximum depth: 1212.849993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.112458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760721; longitude = -122.139481; duration = 215; initialDepth = 1167.365034; finalDepth = 1157.112458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1157.112458 # Seafloor depth: -1207.112458 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.530297 meters # Minimum depth: 1217.365034 meters looking forward 100.000000 meters along route # Maximum depth: 1217.761212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.365034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760350; longitude = -122.140594; duration = 215; initialDepth = 1157.372126; finalDepth = 1167.365034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1167.365034 # Seafloor depth: -1217.365034 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 50 # Segment length 107.530717 meters # Minimum depth: 1207.372126 meters looking forward 100.000000 meters along route # Maximum depth: 1215.951244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.372126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759979; longitude = -122.141707; duration = 215; initialDepth = 1145.256287; finalDepth = 1157.372126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5791180000001 # Actual altitude: 58.5791180000001 # Commanded vehicle depth: 1157.372126 # Seafloor depth: -1215.951244 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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 50 # Segment length 128.196112 meters # Minimum depth: 1195.256287 meters looking forward 100.000000 meters along route # Maximum depth: 1202.931840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.256287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759608; longitude = -122.142820; duration = 256; initialDepth = 1141.662842; finalDepth = 1145.256287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.5791180000001 # Actual altitude: 58.5791180000001 # Commanded vehicle depth: 1145.256287 # Seafloor depth: -1202.931840 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 150.000000 meters # Minimum depth: 1191.662842 meters looking forward 100.000000 meters along route # Maximum depth: 1207.718063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.662842 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759166; longitude = -122.144147; duration = 300; # abortOnTimeout = True; initialDepth = 1158.914551; finalDepth = 1141.662842; 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: 57.675553 # Actual altitude: 57.675553 # Commanded vehicle depth: 1141.662842 # Seafloor depth: -1191.662842 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.07; 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 48 # Segment length 173.558340 meters # Minimum depth: 1208.914551 meters looking forward 100.000000 meters along route # Maximum depth: 1216.365207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.914551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757917; longitude = -122.143503; duration = 347; # abortOnTimeout = True; initialDepth = 1171.484164; finalDepth = 1158.914551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1158.914551 # Seafloor depth: -1208.914551 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 48 # Segment length 107.532007 meters # Minimum depth: 1221.484164 meters looking forward 100.000000 meters along route # Maximum depth: 1225.674177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.484164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758515; longitude = -122.141707; duration = 215; initialDepth = 1177.220631; finalDepth = 1171.484164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1171.484164 # Seafloor depth: -1221.484164 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 48 # Segment length 107.531587 meters # Minimum depth: 1227.220631 meters looking forward 100.000000 meters along route # Maximum depth: 1227.923509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.220631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758886; longitude = -122.140594; duration = 215; initialDepth = 1170.227350; finalDepth = 1177.220631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3289060000002 # Actual altitude: 50.3289060000002 # Commanded vehicle depth: 1177.220631 # Seafloor depth: -1227.549537 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 48 # Segment length 107.531166 meters # Minimum depth: 1220.227350 meters looking forward 100.000000 meters along route # Maximum depth: 1225.932843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.227350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759257; longitude = -122.139481; duration = 215; initialDepth = 1162.522437; finalDepth = 1170.227350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7054930000002 # Actual altitude: 55.7054930000002 # Commanded vehicle depth: 1170.22735 # Seafloor depth: -1225.932843 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.28; 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 48 # Segment length 107.530745 meters # Minimum depth: 1212.522437 meters looking forward 100.000000 meters along route # Maximum depth: 1215.911225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.522437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759628; longitude = -122.138368; duration = 215; initialDepth = 1160.137501; finalDepth = 1162.522437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7054930000002 # Actual altitude: 55.7054930000002 # Commanded vehicle depth: 1162.522437 # Seafloor depth: -1215.911225 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.28; 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 48 # Segment length 107.530324 meters # Minimum depth: 1210.137501 meters looking forward 100.000000 meters along route # Maximum depth: 1210.812886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.137501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759999; longitude = -122.137255; duration = 215; initialDepth = 1162.223059; finalDepth = 1160.137501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.388788 # Actual altitude: 53.388788 # Commanded vehicle depth: 1160.137501 # Seafloor depth: -1210.234621 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 48 # Segment length 107.529904 meters # Minimum depth: 1212.223059 meters looking forward 100.000000 meters along route # Maximum depth: 1214.945447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.223059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760370; longitude = -122.136142; duration = 215; initialDepth = 1165.649237; finalDepth = 1162.223059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0971200000001 # Actual altitude: 50.0971200000001 # Commanded vehicle depth: 1162.223059 # Seafloor depth: -1212.223059 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 48 # Segment length 107.529482 meters # Minimum depth: 1215.649237 meters looking forward 100.000000 meters along route # Maximum depth: 1216.174659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.649237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760741; longitude = -122.135029; duration = 215; initialDepth = 1162.889885; finalDepth = 1165.649237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5254219999999 # Actual altitude: 50.5254219999999 # Commanded vehicle depth: 1165.649237 # Seafloor depth: -1216.174659 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.21; 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 48 # Segment length 107.529062 meters # Minimum depth: 1212.889885 meters looking forward 100.000000 meters along route # Maximum depth: 1214.913163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.889885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761112; longitude = -122.133916; duration = 215; initialDepth = 1159.722641; finalDepth = 1162.889885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0232779999999 # Actual altitude: 52.0232779999999 # Commanded vehicle depth: 1162.889885 # Seafloor depth: -1214.913163 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.81; 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 48 # Segment length 107.528642 meters # Minimum depth: 1209.722641 meters looking forward 100.000000 meters along route # Maximum depth: 1212.473434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.722641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761483; longitude = -122.132803; duration = 215; initialDepth = 1153.876532; finalDepth = 1159.722641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7507929999999 # Actual altitude: 52.7507929999999 # Commanded vehicle depth: 1159.722641 # Seafloor depth: -1212.473434 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 48 # Segment length 107.528220 meters # Minimum depth: 1203.876532 meters looking forward 100.000000 meters along route # Maximum depth: 1207.324554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.876532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761854; longitude = -122.131690; duration = 215; initialDepth = 1138.471739; finalDepth = 1153.876532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448022 # Actual altitude: 53.448022 # Commanded vehicle depth: 1153.876532 # Seafloor depth: -1207.324554 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; 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 48 # Segment length 107.527800 meters # Minimum depth: 1188.471739 meters looking forward 100.000000 meters along route # Maximum depth: 1199.131715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.471739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762225; longitude = -122.130577; duration = 215; initialDepth = 1128.222450; finalDepth = 1138.471739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6599759999999 # Actual altitude: 60.6599759999999 # Commanded vehicle depth: 1138.471739 # Seafloor depth: -1199.131715 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.26; 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 48 # Segment length 107.527379 meters # Minimum depth: 1178.222450 meters looking forward 100.000000 meters along route # Maximum depth: 1184.166738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.222450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762596; longitude = -122.129464; duration = 215; initialDepth = 1121.167692; finalDepth = 1128.222450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6599759999999 # Actual altitude: 60.6599759999999 # Commanded vehicle depth: 1128.22245 # Seafloor depth: -1184.166738 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.26; 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 48 # Segment length 107.526958 meters # Minimum depth: 1171.167692 meters looking forward 100.000000 meters along route # Maximum depth: 1174.661559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.167692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762967; longitude = -122.128351; duration = 215; initialDepth = 1108.464208; finalDepth = 1121.167692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9442879999999 # Actual altitude: 55.9442879999999 # Commanded vehicle depth: 1121.167692 # Seafloor depth: -1174.661559 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.38; 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 48 # Segment length 107.526538 meters # Minimum depth: 1158.464208 meters looking forward 100.000000 meters along route # Maximum depth: 1167.493752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.464208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763338; longitude = -122.127239; duration = 215; initialDepth = 1089.284668; finalDepth = 1108.464208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.029544 # Actual altitude: 59.029544 # Commanded vehicle depth: 1108.464208 # Seafloor depth: -1167.493752 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.61; 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 48 # Segment length 107.526118 meters # Minimum depth: 1139.284668 meters looking forward 100.000000 meters along route # Maximum depth: 1153.052362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.284668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763709; longitude = -122.126126; duration = 215; initialDepth = 1051.336625; finalDepth = 1089.284668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7676939999999 # Actual altitude: 63.7676939999999 # Commanded vehicle depth: 1089.284668 # Seafloor depth: -1153.052362 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.51; 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 48 # Segment length 107.525696 meters # Minimum depth: 1101.336625 meters looking forward 100.000000 meters along route # Maximum depth: 1124.005549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.336625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764080; longitude = -122.125013; duration = 215; initialDepth = 1043.009832; finalDepth = 1051.336625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6689240000001 # Actual altitude: 72.6689240000001 # Commanded vehicle depth: 1051.336625 # Seafloor depth: -1124.005549 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.07; 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 48 # Segment length 107.525276 meters # Minimum depth: 1093.009832 meters looking forward 100.000000 meters along route # Maximum depth: 1099.227257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.009832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764451; longitude = -122.123900; duration = 215; initialDepth = 1029.526289; finalDepth = 1043.009832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6689240000001 # Actual altitude: 72.6689240000001 # Commanded vehicle depth: 1043.009832 # Seafloor depth: -1093.009832 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.07; 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 48 # Segment length 107.524856 meters # Minimum depth: 1079.526289 meters looking forward 100.000000 meters along route # Maximum depth: 1098.341291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.526289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764822; longitude = -122.122787; duration = 215; initialDepth = 1005.010219; finalDepth = 1029.526289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.815002 # Actual altitude: 68.815002 # Commanded vehicle depth: 1029.526289 # Seafloor depth: -1098.341291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 48 # Segment length 107.524435 meters # Minimum depth: 1055.010219 meters looking forward 100.000000 meters along route # Maximum depth: 1056.826560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.010219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765193; longitude = -122.121674; duration = 215; initialDepth = 1007.983789; finalDepth = 1005.010219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.815002 # Actual altitude: 68.815002 # Commanded vehicle depth: 1005.010219 # Seafloor depth: -1056.826560 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 48 # Segment length 107.524015 meters # Minimum depth: 1057.983789 meters looking forward 100.000000 meters along route # Maximum depth: 1066.488182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.983789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765564; longitude = -122.120561; duration = 215; initialDepth = 991.697602; finalDepth = 1007.983789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5043930000002 # Actual altitude: 58.5043930000002 # Commanded vehicle depth: 1007.983789 # Seafloor depth: -1066.488182 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 48 # Segment length 107.523594 meters # Minimum depth: 1041.697602 meters looking forward 100.000000 meters along route # Maximum depth: 1052.768915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.697602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765935; longitude = -122.119448; duration = 215; initialDepth = 924.043318; finalDepth = 991.697602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0713130000001 # Actual altitude: 61.0713130000001 # Commanded vehicle depth: 991.697602 # Seafloor depth: -1052.768915 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.43; 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 48 # Segment length 107.523173 meters # Minimum depth: 974.043318 meters looking forward 100.000000 meters along route # Maximum depth: 1010.677833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.043318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766306; longitude = -122.118335; duration = 215; initialDepth = 860.314233; finalDepth = 924.043318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.634515 # Actual altitude: 86.634515 # Commanded vehicle depth: 924.043318 # Seafloor depth: -1010.677833 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.65; 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 48 # Segment length 107.522754 meters # Minimum depth: 910.314233 meters looking forward 100.000000 meters along route # Maximum depth: 941.450221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.314233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766677; longitude = -122.117222; duration = 215; initialDepth = 839.716616; finalDepth = 860.314233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.634515 # Actual altitude: 86.634515 # Commanded vehicle depth: 860.314233 # Seafloor depth: -941.450221 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.65; 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 48 # Segment length 107.522332 meters # Minimum depth: 889.716616 meters looking forward 100.000000 meters along route # Maximum depth: 903.002929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.716616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767048; longitude = -122.116109; duration = 215; initialDepth = 817.405490; finalDepth = 839.716616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1359880000001 # Actual altitude: 81.1359880000001 # Commanded vehicle depth: 839.716616 # Seafloor depth: -903.002929 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.45; 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 48 # Segment length 107.521913 meters # Minimum depth: 867.405490 meters looking forward 100.000000 meters along route # Maximum depth: 876.494595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.405490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767419; longitude = -122.114996; duration = 215; initialDepth = 811.415701; finalDepth = 817.405490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.286313 # Actual altitude: 63.286313 # Commanded vehicle depth: 817.40549 # Seafloor depth: -876.494595 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.31; 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 48 # Segment length 107.521492 meters # Minimum depth: 861.415701 meters looking forward 100.000000 meters along route # Maximum depth: 864.277718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.415701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767790; longitude = -122.113883; duration = 215; initialDepth = 803.742867; finalDepth = 811.415701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.089105 # Actual altitude: 59.089105 # Commanded vehicle depth: 811.415701 # Seafloor depth: -864.277718 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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 48 # Segment length 130.706879 meters # Minimum depth: 853.742867 meters looking forward 100.000000 meters along route # Maximum depth: 859.621442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.742867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768161; longitude = -122.112770; duration = 261; initialDepth = 802.704874; finalDepth = 803.742867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.878575 # Actual altitude: 55.878575 # Commanded vehicle depth: 803.742867 # Seafloor depth: -859.621442 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.35; 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 48 # Segment length 126.277409 meters # Minimum depth: 852.704874 meters looking forward 100.000000 meters along route # Maximum depth: 855.609620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.704874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768612; longitude = -122.111417; duration = 252; initialDepth = 808.256073; finalDepth = 802.704874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.878575 # Actual altitude: 55.878575 # Commanded vehicle depth: 802.704874 # Seafloor depth: -853.097127 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.35; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 150.000000 meters # Minimum depth: 858.256073 meters looking forward 100.000000 meters along route # Maximum depth: 879.815026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.256073 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769048; longitude = -122.110110; duration = 300; # abortOnTimeout = True; initialDepth = 839.500793; finalDepth = 808.256073; 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: 50.392253 # Actual altitude: 50.392253 # Commanded vehicle depth: 808.256073 # Seafloor depth: -858.256073 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 to get to end of line 46 # Segment length 104.062986 meters # Minimum depth: 889.500793 meters looking forward 100.000000 meters along route # Maximum depth: 904.247905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.500793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767799; longitude = -122.109467; duration = 208; # abortOnTimeout = True; initialDepth = 857.598505; finalDepth = 839.500793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 839.500793 # Seafloor depth: -889.500793 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.522363 meters # Minimum depth: 907.598505 meters looking forward 100.000000 meters along route # Maximum depth: 910.524997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.598505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767439; longitude = -122.110544; duration = 215; initialDepth = 860.995185; finalDepth = 857.598505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 857.598505 # Seafloor depth: -907.598505 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.522784 meters # Minimum depth: 910.995185 meters looking forward 100.000000 meters along route # Maximum depth: 912.779634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.995185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767068; longitude = -122.111657; duration = 215; initialDepth = 859.481206; finalDepth = 860.995185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 860.995185 # Seafloor depth: -910.995185 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.523203 meters # Minimum depth: 909.481206 meters looking forward 100.000000 meters along route # Maximum depth: 917.155049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.481206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766697; longitude = -122.112770; duration = 215; initialDepth = 856.957937; finalDepth = 859.481206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6738429999999 # Actual altitude: 57.6738429999999 # Commanded vehicle depth: 859.481206 # Seafloor depth: -917.155049 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.07; 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 46 # Segment length 107.523625 meters # Minimum depth: 906.957937 meters looking forward 100.000000 meters along route # Maximum depth: 910.625218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.957937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766327; longitude = -122.113883; duration = 215; initialDepth = 871.859120; finalDepth = 856.957937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6738429999999 # Actual altitude: 57.6738429999999 # Commanded vehicle depth: 856.957937 # Seafloor depth: -906.957937 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.07; 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 46 # Segment length 107.524044 meters # Minimum depth: 921.859120 meters looking forward 100.000000 meters along route # Maximum depth: 940.204152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.859120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765956; longitude = -122.114996; duration = 215; initialDepth = 904.720520; finalDepth = 871.859120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 871.85912 # Seafloor depth: -921.859120 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.524465 meters # Minimum depth: 954.720520 meters looking forward 100.000000 meters along route # Maximum depth: 963.700659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.720520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765585; longitude = -122.116109; duration = 215; initialDepth = 913.814912; finalDepth = 904.720520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 904.72052 # Seafloor depth: -954.720520 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.524885 meters # Minimum depth: 963.814912 meters looking forward 100.000000 meters along route # Maximum depth: 979.536638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.814912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765214; longitude = -122.117222; duration = 215; initialDepth = 958.639187; finalDepth = 913.814912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 913.814912 # Seafloor depth: -963.814912 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.525306 meters # Minimum depth: 1008.639187 meters looking forward 100.000000 meters along route # Maximum depth: 1042.943404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.639187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764843; longitude = -122.118335; duration = 215; initialDepth = 1008.779060; finalDepth = 958.639187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.639187 # Seafloor depth: -1008.639187 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.525726 meters # Minimum depth: 1073.193202 meters looking forward 100.000000 meters along route # Maximum depth: 1104.093926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.779060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764472; longitude = -122.119448; duration = 215; initialDepth = 1058.919128; finalDepth = 1008.779060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4141423410784 # Actual altitude: 64.4141423410784 # Commanded vehicle depth: 1008.77905965892 # Seafloor depth: -1073.193202 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.77; 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 46 # Segment length 107.526147 meters # Minimum depth: 1109.329727 meters looking forward 100.000000 meters along route # Maximum depth: 1117.474594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.919128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764101; longitude = -122.120561; duration = 215; initialDepth = 1073.673578; finalDepth = 1058.919128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4141423410784 # Actual altitude: 64.4141423410784 # Commanded vehicle depth: 1058.91912816705 # Seafloor depth: -1109.329727 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.77; 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 46 # Segment length 107.526567 meters # Minimum depth: 1123.673578 meters looking forward 100.000000 meters along route # Maximum depth: 1129.061409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.673578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763730; longitude = -122.121674; duration = 215; initialDepth = 1088.444873; finalDepth = 1073.673578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4105988329461 # Actual altitude: 50.4105988329461 # Commanded vehicle depth: 1073.673578 # Seafloor depth: -1123.673578 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.526988 meters # Minimum depth: 1138.444873 meters looking forward 100.000000 meters along route # Maximum depth: 1145.819950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.444873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763359; longitude = -122.122787; duration = 215; initialDepth = 1096.694608; finalDepth = 1088.444873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1088.444873 # Seafloor depth: -1138.444873 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.527408 meters # Minimum depth: 1146.694608 meters looking forward 100.000000 meters along route # Maximum depth: 1151.925069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.694608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762988; longitude = -122.123900; duration = 215; initialDepth = 1106.908944; finalDepth = 1096.694608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1096.694608 # Seafloor depth: -1146.694608 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.527829 meters # Minimum depth: 1156.908944 meters looking forward 100.000000 meters along route # Maximum depth: 1163.739028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.908944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762617; longitude = -122.125013; duration = 215; initialDepth = 1122.050504; finalDepth = 1106.908944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1106.908944 # Seafloor depth: -1156.908944 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.528249 meters # Minimum depth: 1172.050504 meters looking forward 100.000000 meters along route # Maximum depth: 1181.839725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.050504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762246; longitude = -122.126126; duration = 215; initialDepth = 1133.413174; finalDepth = 1122.050504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1122.050504 # Seafloor depth: -1172.050504 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.528670 meters # Minimum depth: 1183.413174 meters looking forward 100.000000 meters along route # Maximum depth: 1188.858566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.413174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761875; longitude = -122.127239; duration = 215; initialDepth = 1143.968642; finalDepth = 1133.413174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1133.413174 # Seafloor depth: -1183.413174 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.529091 meters # Minimum depth: 1193.968642 meters looking forward 100.000000 meters along route # Maximum depth: 1198.612154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.968642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761504; longitude = -122.128351; duration = 215; initialDepth = 1153.144913; finalDepth = 1143.968642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1143.968642 # Seafloor depth: -1193.968642 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.529511 meters # Minimum depth: 1203.144913 meters looking forward 100.000000 meters along route # Maximum depth: 1211.952232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.144913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761133; longitude = -122.129464; duration = 215; initialDepth = 1163.632532; finalDepth = 1153.144913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1153.144913 # Seafloor depth: -1203.144913 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.529932 meters # Minimum depth: 1213.632532 meters looking forward 100.000000 meters along route # Maximum depth: 1218.423101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.632532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760762; longitude = -122.130577; duration = 215; initialDepth = 1170.113992; finalDepth = 1163.632532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1163.632532 # Seafloor depth: -1213.632532 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.530353 meters # Minimum depth: 1220.113992 meters looking forward 100.000000 meters along route # Maximum depth: 1221.165279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.113992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760391; longitude = -122.131690; duration = 215; initialDepth = 1174.136927; finalDepth = 1170.113992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1170.113992 # Seafloor depth: -1220.113992 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.530773 meters # Minimum depth: 1224.136927 meters looking forward 100.000000 meters along route # Maximum depth: 1227.247578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.136927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760020; longitude = -122.132803; duration = 215; initialDepth = 1177.655084; finalDepth = 1174.136927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1174.136927 # Seafloor depth: -1224.136927 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.531195 meters # Minimum depth: 1227.655084 meters looking forward 100.000000 meters along route # Maximum depth: 1229.253447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.655084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759649; longitude = -122.133916; duration = 215; initialDepth = 1178.278536; finalDepth = 1177.655084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1177.655084 # Seafloor depth: -1227.655084 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.531614 meters # Minimum depth: 1228.278536 meters looking forward 100.000000 meters along route # Maximum depth: 1229.761240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.278536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759278; longitude = -122.135029; duration = 215; initialDepth = 1176.900855; finalDepth = 1178.278536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482704 # Actual altitude: 51.482704 # Commanded vehicle depth: 1178.278536 # Seafloor depth: -1229.761240 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.59; 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 46 # Segment length 107.532036 meters # Minimum depth: 1226.900855 meters looking forward 100.000000 meters along route # Maximum depth: 1227.575191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.900855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758907; longitude = -122.136142; duration = 215; initialDepth = 1177.910597; finalDepth = 1176.900855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482704 # Actual altitude: 51.482704 # Commanded vehicle depth: 1176.900855 # Seafloor depth: -1226.900855 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.59; 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 46 # Segment length 107.532457 meters # Minimum depth: 1227.910597 meters looking forward 100.000000 meters along route # Maximum depth: 1231.304052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.910597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758536; longitude = -122.137255; duration = 215; initialDepth = 1186.705229; finalDepth = 1177.910597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1177.910597 # Seafloor depth: -1227.910597 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.532877 meters # Minimum depth: 1236.705229 meters looking forward 100.000000 meters along route # Maximum depth: 1240.093213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.705229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758165; longitude = -122.138368; duration = 215; initialDepth = 1185.452786; finalDepth = 1186.705229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1186.705229 # Seafloor depth: -1236.705229 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 46 # Segment length 107.533298 meters # Minimum depth: 1235.452786 meters looking forward 100.000000 meters along route # Maximum depth: 1239.486636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.452786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757794; longitude = -122.139481; duration = 215; initialDepth = 1180.456552; finalDepth = 1185.452786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.03385 # Actual altitude: 54.03385 # Commanded vehicle depth: 1185.452786 # Seafloor depth: -1239.486636 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.61; 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 46 # Segment length 107.533719 meters # Minimum depth: 1230.456552 meters looking forward 100.000000 meters along route # Maximum depth: 1234.409890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.456552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757423; longitude = -122.140594; duration = 215; initialDepth = 1170.332648; finalDepth = 1180.456552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.03385 # Actual altitude: 54.03385 # Commanded vehicle depth: 1180.456552 # Seafloor depth: -1234.409890 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.61; 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 46 # Segment length 111.389995 meters # Minimum depth: 1220.332648 meters looking forward 100.000000 meters along route # Maximum depth: 1226.502633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.332648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757052; longitude = -122.141707; duration = 222; initialDepth = 1169.638977; finalDepth = 1170.332648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.169985 # Actual altitude: 56.169985 # Commanded vehicle depth: 1170.332648 # Seafloor depth: -1226.502633 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.47; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 150.000000 meters # Minimum depth: 1219.638977 meters looking forward 100.000000 meters along route # Maximum depth: 1229.119693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.638977 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756668; longitude = -122.142860; duration = 300; # abortOnTimeout = True; initialDepth = 1181.206909; finalDepth = 1169.638977; 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: 56.169985 # Actual altitude: 56.169985 # Commanded vehicle depth: 1169.638977 # Seafloor depth: -1219.638977 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.47; 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 to get to end of line 44 # Segment length 102.989564 meters # Minimum depth: 1231.206909 meters looking forward 100.000000 meters along route # Maximum depth: 1233.105779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.206909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755418; longitude = -122.142216; duration = 205; # abortOnTimeout = True; initialDepth = 1188.300522; finalDepth = 1181.206909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1181.206909 # Seafloor depth: -1231.206909 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.535220 meters # Minimum depth: 1238.300522 meters looking forward 100.000000 meters along route # Maximum depth: 1241.705777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.300522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755774; longitude = -122.141150; duration = 215; initialDepth = 1197.056941; finalDepth = 1188.300522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1188.300522 # Seafloor depth: -1238.300522 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.534799 meters # Minimum depth: 1247.056941 meters looking forward 100.000000 meters along route # Maximum depth: 1249.312370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.056941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756145; longitude = -122.140037; duration = 215; initialDepth = 1200.030501; finalDepth = 1197.056941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1197.056941 # Seafloor depth: -1247.056941 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.534378 meters # Minimum depth: 1250.030501 meters looking forward 100.000000 meters along route # Maximum depth: 1250.099917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.030501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756516; longitude = -122.138924; duration = 215; initialDepth = 1197.406730; finalDepth = 1200.030501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.069416 # Actual altitude: 50.069416 # Commanded vehicle depth: 1200.030501 # Seafloor depth: -1250.099917 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; 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 44 # Segment length 107.533958 meters # Minimum depth: 1247.406730 meters looking forward 100.000000 meters along route # Maximum depth: 1250.386820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.406730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756887; longitude = -122.137811; duration = 215; initialDepth = 1193.965071; finalDepth = 1197.406730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.98009 # Actual altitude: 52.98009 # Commanded vehicle depth: 1197.40673 # Seafloor depth: -1250.386820 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.19; 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 44 # Segment length 107.533536 meters # Minimum depth: 1243.965071 meters looking forward 100.000000 meters along route # Maximum depth: 1244.714425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.965071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757258; longitude = -122.136699; duration = 215; initialDepth = 1192.208993; finalDepth = 1193.965071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.98009 # Actual altitude: 52.98009 # Commanded vehicle depth: 1193.965071 # Seafloor depth: -1244.714425 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.19; 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 44 # Segment length 107.533116 meters # Minimum depth: 1242.208993 meters looking forward 100.000000 meters along route # Maximum depth: 1242.725439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.208993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757629; longitude = -122.135586; duration = 215; initialDepth = 1189.455009; finalDepth = 1192.208993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7493539999998 # Actual altitude: 50.7493539999998 # Commanded vehicle depth: 1192.208993 # Seafloor depth: -1242.725439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.30; 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 44 # Segment length 107.532696 meters # Minimum depth: 1239.455009 meters looking forward 100.000000 meters along route # Maximum depth: 1240.961777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.455009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758000; longitude = -122.134473; duration = 215; initialDepth = 1186.378258; finalDepth = 1189.455009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.506768 # Actual altitude: 51.506768 # Commanded vehicle depth: 1189.455009 # Seafloor depth: -1240.961777 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 44 # Segment length 107.532274 meters # Minimum depth: 1236.378258 meters looking forward 100.000000 meters along route # Maximum depth: 1238.233120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.378258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758371; longitude = -122.133360; duration = 215; initialDepth = 1181.438802; finalDepth = 1186.378258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8548620000001 # Actual altitude: 51.8548620000001 # Commanded vehicle depth: 1186.378258 # Seafloor depth: -1238.233120 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.74; 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 44 # Segment length 107.531854 meters # Minimum depth: 1231.438802 meters looking forward 100.000000 meters along route # Maximum depth: 1235.002802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.438802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758742; longitude = -122.132247; duration = 215; initialDepth = 1176.000244; finalDepth = 1181.438802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5640000000001 # Actual altitude: 53.5640000000001 # Commanded vehicle depth: 1181.438802 # Seafloor depth: -1235.002802 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 44 # Segment length 107.531433 meters # Minimum depth: 1226.000244 meters looking forward 100.000000 meters along route # Maximum depth: 1229.453803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.000244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759113; longitude = -122.131134; duration = 215; initialDepth = 1169.235954; finalDepth = 1176.000244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5640000000001 # Actual altitude: 53.5640000000001 # Commanded vehicle depth: 1176.000244 # Seafloor depth: -1229.453803 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 44 # Segment length 107.531012 meters # Minimum depth: 1219.235954 meters looking forward 100.000000 meters along route # Maximum depth: 1223.618823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.235954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759484; longitude = -122.130021; duration = 215; initialDepth = 1161.072040; finalDepth = 1169.235954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.382869 # Actual altitude: 54.382869 # Commanded vehicle depth: 1169.235954 # Seafloor depth: -1223.618823 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.75; 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 44 # Segment length 107.530592 meters # Minimum depth: 1211.072040 meters looking forward 100.000000 meters along route # Maximum depth: 1216.101346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.072040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759855; longitude = -122.128908; duration = 215; initialDepth = 1150.114824; finalDepth = 1161.072040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0293059999999 # Actual altitude: 55.0293059999999 # Commanded vehicle depth: 1161.07204 # Seafloor depth: -1216.101346 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.01; 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 44 # Segment length 107.530171 meters # Minimum depth: 1200.114824 meters looking forward 100.000000 meters along route # Maximum depth: 1204.961836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.114824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760226; longitude = -122.127795; duration = 215; initialDepth = 1142.397473; finalDepth = 1150.114824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0293059999999 # Actual altitude: 55.0293059999999 # Commanded vehicle depth: 1150.114824 # Seafloor depth: -1204.961836 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.01; 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 44 # Segment length 107.529751 meters # Minimum depth: 1192.397473 meters looking forward 100.000000 meters along route # Maximum depth: 1196.027673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.397473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760597; longitude = -122.126682; duration = 215; initialDepth = 1136.403075; finalDepth = 1142.397473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8470119999999 # Actual altitude: 54.8470119999999 # Commanded vehicle depth: 1142.397473 # Seafloor depth: -1196.027673 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.94; 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 44 # Segment length 107.529330 meters # Minimum depth: 1186.403075 meters looking forward 100.000000 meters along route # Maximum depth: 1190.116345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.403075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760968; longitude = -122.125569; duration = 215; initialDepth = 1133.542430; finalDepth = 1136.403075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.71327 # Actual altitude: 53.71327 # Commanded vehicle depth: 1136.403075 # Seafloor depth: -1190.116345 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.49; 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 44 # Segment length 107.528909 meters # Minimum depth: 1183.542430 meters looking forward 100.000000 meters along route # Maximum depth: 1186.270587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.542430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761339; longitude = -122.124456; duration = 215; initialDepth = 1119.403891; finalDepth = 1133.542430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.71327 # Actual altitude: 53.71327 # Commanded vehicle depth: 1133.54243 # Seafloor depth: -1186.270587 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.49; 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 44 # Segment length 107.528489 meters # Minimum depth: 1169.403891 meters looking forward 100.000000 meters along route # Maximum depth: 1179.383117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.403891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761710; longitude = -122.123343; duration = 215; initialDepth = 1102.461849; finalDepth = 1119.403891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9792260000002 # Actual altitude: 59.9792260000002 # Commanded vehicle depth: 1119.403891 # Seafloor depth: -1179.383117 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.99; 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 44 # Segment length 107.528069 meters # Minimum depth: 1152.461849 meters looking forward 100.000000 meters along route # Maximum depth: 1161.326675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.461849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762081; longitude = -122.122230; duration = 215; initialDepth = 1077.313519; finalDepth = 1102.461849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9792260000002 # Actual altitude: 59.9792260000002 # Commanded vehicle depth: 1102.461849 # Seafloor depth: -1161.326675 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.99; 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 44 # Segment length 107.527648 meters # Minimum depth: 1127.313519 meters looking forward 100.000000 meters along route # Maximum depth: 1145.072464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.313519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762452; longitude = -122.121117; duration = 215; initialDepth = 1002.625077; finalDepth = 1077.313519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.758945 # Actual altitude: 67.758945 # Commanded vehicle depth: 1077.313519 # Seafloor depth: -1145.072464 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.10; 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 44 # Segment length 107.527228 meters # Minimum depth: 1052.625077 meters looking forward 100.000000 meters along route # Maximum depth: 1097.354879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.625077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762823; longitude = -122.120004; duration = 215; initialDepth = 965.404799; finalDepth = 1002.625077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.7298020000001 # Actual altitude: 94.7298020000001 # Commanded vehicle depth: 1002.625077 # Seafloor depth: -1097.354879 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.89; 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 44 # Segment length 107.526807 meters # Minimum depth: 1015.404799 meters looking forward 100.000000 meters along route # Maximum depth: 1030.743522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.404799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763193; longitude = -122.118891; duration = 215; initialDepth = 972.059151; finalDepth = 965.404799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.7298020000001 # Actual altitude: 94.7298020000001 # Commanded vehicle depth: 965.404799 # Seafloor depth: -1030.743522 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 37.89; 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 44 # Segment length 107.526386 meters # Minimum depth: 1022.059151 meters looking forward 100.000000 meters along route # Maximum depth: 1030.247483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.059151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763564; longitude = -122.117779; duration = 215; initialDepth = 945.546553; finalDepth = 972.059151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.338723 # Actual altitude: 65.338723 # Commanded vehicle depth: 972.059151 # Seafloor depth: -1022.059151 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.14; 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 44 # Segment length 107.525967 meters # Minimum depth: 995.546553 meters looking forward 100.000000 meters along route # Maximum depth: 1027.916820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.546553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763935; longitude = -122.116666; duration = 215; initialDepth = 913.755088; finalDepth = 945.546553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3702669999999 # Actual altitude: 82.3702669999999 # Commanded vehicle depth: 945.546553 # Seafloor depth: -1027.916820 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.95; 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 44 # Segment length 107.525546 meters # Minimum depth: 963.755088 meters looking forward 100.000000 meters along route # Maximum depth: 979.993572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.755088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764306; longitude = -122.115553; duration = 215; initialDepth = 891.989701; finalDepth = 913.755088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.3702669999999 # Actual altitude: 82.3702669999999 # Commanded vehicle depth: 913.755088 # Seafloor depth: -979.993572 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.95; 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 44 # Segment length 107.525126 meters # Minimum depth: 941.989701 meters looking forward 100.000000 meters along route # Maximum depth: 951.136803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.989701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764677; longitude = -122.114440; duration = 215; initialDepth = 891.111665; finalDepth = 891.989701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.238484 # Actual altitude: 66.238484 # Commanded vehicle depth: 891.989701 # Seafloor depth: -951.136803 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 44 # Segment length 107.524705 meters # Minimum depth: 941.111665 meters looking forward 100.000000 meters along route # Maximum depth: 959.940116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.111665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765048; longitude = -122.113327; duration = 215; initialDepth = 925.441245; finalDepth = 891.111665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.147102 # Actual altitude: 59.147102 # Commanded vehicle depth: 891.111665 # Seafloor depth: -941.111665 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.66; 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 44 # Segment length 107.524285 meters # Minimum depth: 975.441245 meters looking forward 100.000000 meters along route # Maximum depth: 977.749939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.441245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765419; longitude = -122.112214; duration = 215; initialDepth = 905.448964; finalDepth = 925.441245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3086940000001 # Actual altitude: 52.3086940000001 # Commanded vehicle depth: 925.441245 # Seafloor depth: -977.749939 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.92; 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 44 # Segment length 107.523865 meters # Minimum depth: 955.448964 meters looking forward 100.000000 meters along route # Maximum depth: 965.996571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.448964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765790; longitude = -122.111101; duration = 215; initialDepth = 880.897848; finalDepth = 905.448964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.547607 # Actual altitude: 60.547607 # Commanded vehicle depth: 905.448964 # Seafloor depth: -965.996571 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.22; 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 44 # Segment length 112.421382 meters # Minimum depth: 930.897848 meters looking forward 100.000000 meters along route # Maximum depth: 940.339472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.897848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766161; longitude = -122.109988; duration = 224; initialDepth = 879.390289; finalDepth = 880.897848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.547607 # Actual altitude: 60.547607 # Commanded vehicle depth: 880.897848 # Seafloor depth: -940.339472 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.22; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 150.000000 meters # Minimum depth: 929.390289 meters looking forward 100.000000 meters along route # Maximum depth: 963.332337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.390289 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766549; longitude = -122.108824; duration = 300; # abortOnTimeout = True; initialDepth = 916.442505; finalDepth = 879.390289; 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: 59.441624 # Actual altitude: 59.441624 # Commanded vehicle depth: 879.390289 # Seafloor depth: -929.390289 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 to get to end of line 42 # Segment length 174.540659 meters # Minimum depth: 966.442505 meters looking forward 100.000000 meters along route # Maximum depth: 977.588391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.442505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765300; longitude = -122.108181; duration = 349; # abortOnTimeout = True; initialDepth = 929.033557; finalDepth = 916.442505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 916.442505 # Seafloor depth: -966.442505 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.525576 meters # Minimum depth: 979.033557 meters looking forward 100.000000 meters along route # Maximum depth: 999.385098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.033557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764698; longitude = -122.109988; duration = 215; initialDepth = 960.167427; finalDepth = 929.033557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 929.033557 # Seafloor depth: -979.033557 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.525997 meters # Minimum depth: 1010.167427 meters looking forward 100.000000 meters along route # Maximum depth: 1013.100573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.167427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764327; longitude = -122.111101; duration = 215; initialDepth = 927.334101; finalDepth = 960.167427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9331460000001 # Actual altitude: 52.9331460000001 # Commanded vehicle depth: 960.167427 # Seafloor depth: -1013.100573 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.17; 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 42 # Segment length 107.526417 meters # Minimum depth: 977.334101 meters looking forward 100.000000 meters along route # Maximum depth: 992.274883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.334101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763956; longitude = -122.112214; duration = 215; initialDepth = 929.116973; finalDepth = 927.334101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.940782 # Actual altitude: 64.940782 # Commanded vehicle depth: 927.334101 # Seafloor depth: -992.274883 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.98; 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 42 # Segment length 107.526837 meters # Minimum depth: 979.116973 meters looking forward 100.000000 meters along route # Maximum depth: 986.002966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.116973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763585; longitude = -122.113327; duration = 215; initialDepth = 945.475427; finalDepth = 929.116973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.940782 # Actual altitude: 64.940782 # Commanded vehicle depth: 929.116973 # Seafloor depth: -979.116973 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.98; 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 42 # Segment length 107.527258 meters # Minimum depth: 995.475427 meters looking forward 100.000000 meters along route # Maximum depth: 1010.130032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.475427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763214; longitude = -122.114440; duration = 215; initialDepth = 994.114792; finalDepth = 945.475427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 945.475427 # Seafloor depth: -995.475427 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.527678 meters # Minimum depth: 1044.114792 meters looking forward 100.000000 meters along route # Maximum depth: 1077.164837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.114792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762843; longitude = -122.115553; duration = 215; initialDepth = 1027.868439; finalDepth = 994.114792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.114792 # Seafloor depth: -1044.114792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.528098 meters # Minimum depth: 1077.868439 meters looking forward 100.000000 meters along route # Maximum depth: 1078.038899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.868439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762472; longitude = -122.116666; duration = 215; initialDepth = 1014.315049; finalDepth = 1027.868439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1704599999998 # Actual altitude: 50.1704599999998 # Commanded vehicle depth: 1027.868439 # Seafloor depth: -1078.038899 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 42 # Segment length 107.528519 meters # Minimum depth: 1064.315049 meters looking forward 100.000000 meters along route # Maximum depth: 1064.550272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.315049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762101; longitude = -122.117779; duration = 215; initialDepth = 1033.204663; finalDepth = 1014.315049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2352229999999 # Actual altitude: 50.2352229999999 # Commanded vehicle depth: 1014.315049 # Seafloor depth: -1064.550272 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 42 # Segment length 107.528939 meters # Minimum depth: 1083.204663 meters looking forward 100.000000 meters along route # Maximum depth: 1108.994977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.204663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761730; longitude = -122.118891; duration = 215; initialDepth = 1059.691442; finalDepth = 1033.204663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2352229999999 # Actual altitude: 50.2352229999999 # Commanded vehicle depth: 1033.204663 # Seafloor depth: -1083.204663 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 42 # Segment length 107.529360 meters # Minimum depth: 1109.691442 meters looking forward 100.000000 meters along route # Maximum depth: 1122.772286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.691442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761359; longitude = -122.120004; duration = 215; initialDepth = 1092.001916; finalDepth = 1059.691442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1059.691442 # Seafloor depth: -1109.691442 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.529780 meters # Minimum depth: 1142.001916 meters looking forward 100.000000 meters along route # Maximum depth: 1158.359900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.001916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760988; longitude = -122.121117; duration = 215; initialDepth = 1127.371401; finalDepth = 1092.001916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1092.001916 # Seafloor depth: -1142.001916 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.530200 meters # Minimum depth: 1177.371401 meters looking forward 100.000000 meters along route # Maximum depth: 1199.045666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.371401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760617; longitude = -122.122230; duration = 215; initialDepth = 1149.575794; finalDepth = 1127.371401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1127.371401 # Seafloor depth: -1177.371401 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.530621 meters # Minimum depth: 1199.575794 meters looking forward 100.000000 meters along route # Maximum depth: 1202.750393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.575794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760246; longitude = -122.123343; duration = 215; initialDepth = 1157.158872; finalDepth = 1149.575794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1149.575794 # Seafloor depth: -1199.575794 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.531042 meters # Minimum depth: 1207.158872 meters looking forward 100.000000 meters along route # Maximum depth: 1212.013648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.158872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759875; longitude = -122.124456; duration = 215; initialDepth = 1164.298032; finalDepth = 1157.158872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1157.158872 # Seafloor depth: -1207.158872 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.531462 meters # Minimum depth: 1214.298032 meters looking forward 100.000000 meters along route # Maximum depth: 1219.209030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.298032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759504; longitude = -122.125569; duration = 215; initialDepth = 1169.498630; finalDepth = 1164.298032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1164.298032 # Seafloor depth: -1214.298032 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.531882 meters # Minimum depth: 1219.498630 meters looking forward 100.000000 meters along route # Maximum depth: 1222.320863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.498630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759133; longitude = -122.126682; duration = 215; initialDepth = 1174.294812; finalDepth = 1169.498630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1169.49863 # Seafloor depth: -1219.498630 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.532304 meters # Minimum depth: 1224.294812 meters looking forward 100.000000 meters along route # Maximum depth: 1227.228094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.294812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758762; longitude = -122.127795; duration = 215; initialDepth = 1179.554295; finalDepth = 1174.294812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1174.294812 # Seafloor depth: -1224.294812 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.532724 meters # Minimum depth: 1229.554295 meters looking forward 100.000000 meters along route # Maximum depth: 1233.575594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.554295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758391; longitude = -122.128908; duration = 215; initialDepth = 1183.837119; finalDepth = 1179.554295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1179.554295 # Seafloor depth: -1229.554295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.533144 meters # Minimum depth: 1233.837119 meters looking forward 100.000000 meters along route # Maximum depth: 1236.146124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.837119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758020; longitude = -122.130021; duration = 215; initialDepth = 1189.703408; finalDepth = 1183.837119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1183.837119 # Seafloor depth: -1233.837119 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.533565 meters # Minimum depth: 1239.703408 meters looking forward 100.000000 meters along route # Maximum depth: 1242.862318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.703408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757649; longitude = -122.131134; duration = 215; initialDepth = 1196.262917; finalDepth = 1189.703408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1189.703408 # Seafloor depth: -1239.703408 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.533986 meters # Minimum depth: 1246.262917 meters looking forward 100.000000 meters along route # Maximum depth: 1249.710941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.262917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757278; longitude = -122.132247; duration = 215; initialDepth = 1199.895251; finalDepth = 1196.262917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1196.262917 # Seafloor depth: -1246.262917 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.534406 meters # Minimum depth: 1249.895251 meters looking forward 100.000000 meters along route # Maximum depth: 1250.513202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1199.895251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756907; longitude = -122.133360; duration = 215; initialDepth = 1202.177880; finalDepth = 1199.895251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1199.895251 # Seafloor depth: -1249.895251 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.534828 meters # Minimum depth: 1252.177880 meters looking forward 100.000000 meters along route # Maximum depth: 1254.290122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.177880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756536; longitude = -122.134473; duration = 215; initialDepth = 1206.045666; finalDepth = 1202.177880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1202.17788 # Seafloor depth: -1252.177880 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.535248 meters # Minimum depth: 1256.045666 meters looking forward 100.000000 meters along route # Maximum depth: 1258.622442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.045666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756165; longitude = -122.135586; duration = 215; initialDepth = 1208.643892; finalDepth = 1206.045666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1206.045666 # Seafloor depth: -1256.045666 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.535668 meters # Minimum depth: 1258.643892 meters looking forward 100.000000 meters along route # Maximum depth: 1260.291605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.643892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755794; longitude = -122.136699; duration = 215; initialDepth = 1210.219163; finalDepth = 1208.643892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1208.643892 # Seafloor depth: -1258.643892 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.536090 meters # Minimum depth: 1260.219163 meters looking forward 100.000000 meters along route # Maximum depth: 1261.017755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.219163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755423; longitude = -122.137811; duration = 215; initialDepth = 1206.627278; finalDepth = 1210.219163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7985920000001 # Actual altitude: 50.7985920000001 # Commanded vehicle depth: 1210.219163 # Seafloor depth: -1261.017755 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 42 # Segment length 107.536510 meters # Minimum depth: 1256.627278 meters looking forward 100.000000 meters along route # Maximum depth: 1259.802835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.627278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755052; longitude = -122.138924; duration = 215; initialDepth = 1200.066390; finalDepth = 1206.627278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.175557 # Actual altitude: 53.175557 # Commanded vehicle depth: 1206.627278 # Seafloor depth: -1259.802835 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 42 # Segment length 148.359298 meters # Minimum depth: 1250.066390 meters looking forward 100.000000 meters along route # Maximum depth: 1256.444960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.066390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754681; longitude = -122.140037; duration = 296; initialDepth = 1195.591187; finalDepth = 1200.066390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.3785700000001 # Actual altitude: 56.3785700000001 # Commanded vehicle depth: 1200.06639 # Seafloor depth: -1256.444960 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.55; 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; } # ####################################################### # # 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 150.000000 meters # Minimum depth: 1245.591187 meters looking forward 100.000000 meters along route # Maximum depth: 1265.755920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.591187 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754169; longitude = -122.141573; duration = 300; # abortOnTimeout = True; initialDepth = 1215.755920; finalDepth = 1195.591187; 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: 56.3785700000001 # Actual altitude: 56.3785700000001 # Commanded vehicle depth: 1195.591187 # Seafloor depth: -1245.591187 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.55; 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 40 # Segment length 86.193957 meters # Minimum depth: 1265.755920 meters looking forward 100.000000 meters along route # Maximum depth: 1270.625000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.755920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752920; longitude = -122.140929; duration = 172; # abortOnTimeout = True; initialDepth = 1223.624389; finalDepth = 1215.755920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8690799999999 # Actual altitude: 54.8690799999999 # Commanded vehicle depth: 1215.75592 # Seafloor depth: -1270.625000 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.95; 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 40 # Segment length 107.538222 meters # Minimum depth: 1273.624389 meters looking forward 100.000000 meters along route # Maximum depth: 1274.679928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.624389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753218; longitude = -122.140037; duration = 215; initialDepth = 1222.936173; finalDepth = 1223.624389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8690799999999 # Actual altitude: 54.8690799999999 # Commanded vehicle depth: 1223.624389 # Seafloor depth: -1274.679928 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.95; 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 40 # Segment length 107.537800 meters # Minimum depth: 1272.936173 meters looking forward 100.000000 meters along route # Maximum depth: 1273.632501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.936173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753589; longitude = -122.138924; duration = 215; initialDepth = 1221.982957; finalDepth = 1222.936173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.055539 # Actual altitude: 51.055539 # Commanded vehicle depth: 1222.936173 # Seafloor depth: -1273.632501 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 40 # Segment length 107.537380 meters # Minimum depth: 1271.982957 meters looking forward 100.000000 meters along route # Maximum depth: 1272.112036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.982957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753960; longitude = -122.137811; duration = 215; initialDepth = 1216.581919; finalDepth = 1221.982957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.696328 # Actual altitude: 50.696328 # Commanded vehicle depth: 1221.982957 # Seafloor depth: -1272.112036 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 40 # Segment length 107.536960 meters # Minimum depth: 1266.581919 meters looking forward 100.000000 meters along route # Maximum depth: 1270.664261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.581919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754331; longitude = -122.136699; duration = 215; initialDepth = 1216.575060; finalDepth = 1216.581919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0823419999999 # Actual altitude: 54.0823419999999 # Commanded vehicle depth: 1216.581919 # Seafloor depth: -1270.664261 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.63; 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 40 # Segment length 107.536538 meters # Minimum depth: 1266.575060 meters looking forward 100.000000 meters along route # Maximum depth: 1266.788344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.575060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754702; longitude = -122.135586; duration = 215; initialDepth = 1211.285019; finalDepth = 1216.575060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0823419999999 # Actual altitude: 54.0823419999999 # Commanded vehicle depth: 1216.57506 # Seafloor depth: -1266.575060 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.63; 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 40 # Segment length 107.536118 meters # Minimum depth: 1261.285019 meters looking forward 100.000000 meters along route # Maximum depth: 1263.533553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.285019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755073; longitude = -122.134473; duration = 215; initialDepth = 1205.057846; finalDepth = 1211.285019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2485340000001 # Actual altitude: 52.2485340000001 # Commanded vehicle depth: 1211.285019 # Seafloor depth: -1263.533553 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; 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 40 # Segment length 107.535697 meters # Minimum depth: 1255.057846 meters looking forward 100.000000 meters along route # Maximum depth: 1259.764410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.057846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755444; longitude = -122.133360; duration = 215; initialDepth = 1202.981366; finalDepth = 1205.057846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7065640000001 # Actual altitude: 54.7065640000001 # Commanded vehicle depth: 1205.057846 # Seafloor depth: -1259.764410 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.88; 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 40 # Segment length 107.535277 meters # Minimum depth: 1252.981366 meters looking forward 100.000000 meters along route # Maximum depth: 1255.045211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.981366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755815; longitude = -122.132247; duration = 215; initialDepth = 1199.495429; finalDepth = 1202.981366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7065640000001 # Actual altitude: 54.7065640000001 # Commanded vehicle depth: 1202.981366 # Seafloor depth: -1255.045211 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.88; 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 40 # Segment length 107.534856 meters # Minimum depth: 1249.495429 meters looking forward 100.000000 meters along route # Maximum depth: 1251.442439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1199.495429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756186; longitude = -122.131134; duration = 215; initialDepth = 1193.967216; finalDepth = 1199.495429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0638450000001 # Actual altitude: 52.0638450000001 # Commanded vehicle depth: 1199.495429 # Seafloor depth: -1251.442439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 40 # Segment length 107.534435 meters # Minimum depth: 1243.967216 meters looking forward 100.000000 meters along route # Maximum depth: 1247.607895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.967216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756557; longitude = -122.130021; duration = 215; initialDepth = 1192.747188; finalDepth = 1193.967216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6406790000001 # Actual altitude: 53.6406790000001 # Commanded vehicle depth: 1193.967216 # Seafloor depth: -1247.607895 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 40 # Segment length 107.534014 meters # Minimum depth: 1242.747188 meters looking forward 100.000000 meters along route # Maximum depth: 1243.957411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.747188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756928; longitude = -122.128908; duration = 215; initialDepth = 1190.608736; finalDepth = 1192.747188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6406790000001 # Actual altitude: 53.6406790000001 # Commanded vehicle depth: 1192.747188 # Seafloor depth: -1243.957411 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 40 # Segment length 107.533594 meters # Minimum depth: 1240.608736 meters looking forward 100.000000 meters along route # Maximum depth: 1241.327156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.608736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757299; longitude = -122.127795; duration = 215; initialDepth = 1180.468882; finalDepth = 1190.608736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.210223 # Actual altitude: 51.210223 # Commanded vehicle depth: 1190.608736 # Seafloor depth: -1241.327156 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 40 # Segment length 107.533174 meters # Minimum depth: 1230.468882 meters looking forward 100.000000 meters along route # Maximum depth: 1238.557443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.468882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757669; longitude = -122.126682; duration = 215; initialDepth = 1176.709073; finalDepth = 1180.468882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.088561 # Actual altitude: 58.088561 # Commanded vehicle depth: 1180.468882 # Seafloor depth: -1238.557443 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; 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 40 # Segment length 107.532753 meters # Minimum depth: 1226.709073 meters looking forward 100.000000 meters along route # Maximum depth: 1230.436813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.709073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758040; longitude = -122.125569; duration = 215; initialDepth = 1165.931322; finalDepth = 1176.709073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.088561 # Actual altitude: 58.088561 # Commanded vehicle depth: 1176.709073 # Seafloor depth: -1230.436813 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; 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 40 # Segment length 107.532332 meters # Minimum depth: 1215.931322 meters looking forward 100.000000 meters along route # Maximum depth: 1222.274663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.931322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758411; longitude = -122.124456; duration = 215; initialDepth = 1142.062158; finalDepth = 1165.931322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.343341 # Actual altitude: 56.343341 # Commanded vehicle depth: 1165.931322 # Seafloor depth: -1222.274663 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; 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 40 # Segment length 107.531912 meters # Minimum depth: 1192.062158 meters looking forward 100.000000 meters along route # Maximum depth: 1207.005811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.062158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758782; longitude = -122.123343; duration = 215; initialDepth = 1133.124286; finalDepth = 1142.062158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.943653 # Actual altitude: 64.943653 # Commanded vehicle depth: 1142.062158 # Seafloor depth: -1207.005811 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.98; 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 40 # Segment length 107.531492 meters # Minimum depth: 1183.124286 meters looking forward 100.000000 meters along route # Maximum depth: 1192.000194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.124286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759153; longitude = -122.122230; duration = 215; initialDepth = 1120.839965; finalDepth = 1133.124286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.943653 # Actual altitude: 64.943653 # Commanded vehicle depth: 1133.124286 # Seafloor depth: -1192.000194 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.98; 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 40 # Segment length 107.531071 meters # Minimum depth: 1170.839965 meters looking forward 100.000000 meters along route # Maximum depth: 1176.427343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.839965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759524; longitude = -122.121117; duration = 215; initialDepth = 1078.323402; finalDepth = 1120.839965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.875908 # Actual altitude: 58.875908 # Commanded vehicle depth: 1120.839965 # Seafloor depth: -1176.427343 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.55; 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 40 # Segment length 107.530651 meters # Minimum depth: 1128.323402 meters looking forward 100.000000 meters along route # Maximum depth: 1162.662517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.323402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759895; longitude = -122.120004; duration = 215; initialDepth = 1058.706823; finalDepth = 1078.323402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.339115 # Actual altitude: 84.339115 # Commanded vehicle depth: 1078.323402 # Seafloor depth: -1162.662517 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.74; 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 40 # Segment length 107.530230 meters # Minimum depth: 1108.706823 meters looking forward 100.000000 meters along route # Maximum depth: 1128.146406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.706823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760266; longitude = -122.118891; duration = 215; initialDepth = 1056.607087; finalDepth = 1058.706823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.339115 # Actual altitude: 84.339115 # Commanded vehicle depth: 1058.706823 # Seafloor depth: -1128.146406 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.74; 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 40 # Segment length 107.529810 meters # Minimum depth: 1106.607087 meters looking forward 100.000000 meters along route # Maximum depth: 1115.889372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.607087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760637; longitude = -122.117779; duration = 215; initialDepth = 1038.103791; finalDepth = 1056.607087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4395830000001 # Actual altitude: 69.4395830000001 # Commanded vehicle depth: 1056.607087 # Seafloor depth: -1106.607087 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 107.529389 meters # Minimum depth: 1088.103791 meters looking forward 100.000000 meters along route # Maximum depth: 1124.069199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.103791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761008; longitude = -122.116666; duration = 215; initialDepth = 1008.918883; finalDepth = 1038.103791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.965408 # Actual altitude: 85.965408 # Commanded vehicle depth: 1038.103791 # Seafloor depth: -1124.069199 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.39; 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 40 # Segment length 107.528970 meters # Minimum depth: 1058.918883 meters looking forward 100.000000 meters along route # Maximum depth: 1087.937144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.918883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761379; longitude = -122.115553; duration = 215; initialDepth = 982.971915; finalDepth = 1008.918883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.965408 # Actual altitude: 85.965408 # Commanded vehicle depth: 1008.918883 # Seafloor depth: -1087.937144 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.39; 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 40 # Segment length 107.528548 meters # Minimum depth: 1032.971915 meters looking forward 100.000000 meters along route # Maximum depth: 1042.482382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.971915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761750; longitude = -122.114440; duration = 215; initialDepth = 956.753583; finalDepth = 982.971915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0182609999999 # Actual altitude: 79.0182609999999 # Commanded vehicle depth: 982.971915 # Seafloor depth: -1042.482382 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 40 # Segment length 107.528129 meters # Minimum depth: 1006.753583 meters looking forward 100.000000 meters along route # Maximum depth: 1020.566008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.753583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762121; longitude = -122.113327; duration = 215; initialDepth = 956.730910; finalDepth = 956.753583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.812425 # Actual altitude: 63.812425 # Commanded vehicle depth: 956.753583 # Seafloor depth: -1020.566008 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.52; 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 40 # Segment length 107.527708 meters # Minimum depth: 1006.730910 meters looking forward 100.000000 meters along route # Maximum depth: 1020.511138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.730910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762492; longitude = -122.112214; duration = 215; initialDepth = 988.682176; finalDepth = 956.730910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.812425 # Actual altitude: 63.812425 # Commanded vehicle depth: 956.73091 # Seafloor depth: -1006.730910 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.52; 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 40 # Segment length 107.527289 meters # Minimum depth: 1038.682176 meters looking forward 100.000000 meters along route # Maximum depth: 1038.828090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.682176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762863; longitude = -122.111101; duration = 215; initialDepth = 962.366613; finalDepth = 988.682176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.682176 # Seafloor depth: -1038.682176 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 40 # Segment length 107.526867 meters # Minimum depth: 1012.366613 meters looking forward 100.000000 meters along route # Maximum depth: 1032.831226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.366613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763234; longitude = -122.109988; duration = 215; initialDepth = 962.203520; finalDepth = 962.366613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.464613 # Actual altitude: 70.464613 # Commanded vehicle depth: 962.366613 # Seafloor depth: -1032.831226 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.19; 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 40 # Segment length 129.132923 meters # Minimum depth: 1012.203520 meters looking forward 100.000000 meters along route # Maximum depth: 1022.132445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.203520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763605; longitude = -122.108875; duration = 258; initialDepth = 979.208847; finalDepth = 962.203520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 70.464613 # Actual altitude: 70.464613 # Commanded vehicle depth: 962.20352 # Seafloor depth: -1012.261334 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.19; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 150.000000 meters # Minimum depth: 1029.208847 meters looking forward 100.000000 meters along route # Maximum depth: 1078.214231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.208847 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764051; longitude = -122.107538; duration = 300; # abortOnTimeout = True; initialDepth = 1018.367173; finalDepth = 979.208847; 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: 50.057814 # Actual altitude: 50.057814 # Commanded vehicle depth: 979.208847 # Seafloor depth: -1029.208847 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.02; 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 38 # Segment length 90.037764 meters # Minimum depth: 1068.367173 meters looking forward 100.000000 meters along route # Maximum depth: 1084.956379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.367173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762802; longitude = -122.106896; duration = 180; # abortOnTimeout = True; initialDepth = 1016.149828; finalDepth = 1018.367173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9186239999999 # Actual altitude: 65.9186239999999 # Commanded vehicle depth: 1018.367173 # Seafloor depth: -1084.285797 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.37; 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 38 # Segment length 101.212435 meters # Minimum depth: 1066.149828 meters looking forward 100.000000 meters along route # Maximum depth: 1067.699183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.149828 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762491; longitude = -122.107827; duration = 202; initialDepth = 1008.753585; finalDepth = 1016.149828; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9186239999999 # Actual altitude: 65.9186239999999 # Commanded vehicle depth: 1016.149828 # Seafloor depth: -1067.699183 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.37; 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 38 # Segment length 107.528579 meters # Minimum depth: 1058.753585 meters looking forward 100.000000 meters along route # Maximum depth: 1065.606183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.753585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762142; longitude = -122.108875; duration = 215; initialDepth = 984.722206; finalDepth = 1008.753585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8525980000002 # Actual altitude: 56.8525980000002 # Commanded vehicle depth: 1008.753585 # Seafloor depth: -1065.606183 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.74; 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 38 # Segment length 113.841867 meters # Minimum depth: 1034.722206 meters looking forward 100.000000 meters along route # Maximum depth: 1058.589553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.722206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761771; longitude = -122.109988; duration = 227; initialDepth = 980.799377; finalDepth = 984.722206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.8673470000001 # Actual altitude: 73.8673470000001 # Commanded vehicle depth: 984.722206 # Seafloor depth: -1058.589553 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.55; 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 38 # Segment length 101.216553 meters # Minimum depth: 1030.799377 meters looking forward 100.000000 meters along route # Maximum depth: 1033.688648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.799377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761378; longitude = -122.111166; duration = 202; initialDepth = 987.094710; finalDepth = 980.799377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.8673470000001 # Actual altitude: 73.8673470000001 # Commanded vehicle depth: 980.799377 # Seafloor depth: -1033.688648 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.55; 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 38 # Segment length 107.529840 meters # Minimum depth: 1037.094710 meters looking forward 100.000000 meters along route # Maximum depth: 1049.697194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.094710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761029; longitude = -122.112214; duration = 215; initialDepth = 1012.031620; finalDepth = 987.094710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.889271 # Actual altitude: 52.889271 # Commanded vehicle depth: 987.09471 # Seafloor depth: -1037.094710 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.16; 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 38 # Segment length 113.840270 meters # Minimum depth: 1062.031620 meters looking forward 100.000000 meters along route # Maximum depth: 1106.292899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.031620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760658; longitude = -122.113327; duration = 227; initialDepth = 1057.795876; finalDepth = 1012.031620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1012.03162 # Seafloor depth: -1062.031620 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.220671 meters # Minimum depth: 1107.795876 meters looking forward 100.000000 meters along route # Maximum depth: 1118.215844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.795876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760265; longitude = -122.114505; duration = 202; initialDepth = 1083.015985; finalDepth = 1057.795876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1057.795876 # Seafloor depth: -1107.795876 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.531101 meters # Minimum depth: 1133.015985 meters looking forward 100.000000 meters along route # Maximum depth: 1148.528617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.015985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759916; longitude = -122.115553; duration = 215; initialDepth = 1101.744626; finalDepth = 1083.015985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1083.015985 # Seafloor depth: -1133.015985 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.838674 meters # Minimum depth: 1151.744626 meters looking forward 100.000000 meters along route # Maximum depth: 1163.881754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.744626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759545; longitude = -122.116666; duration = 227; initialDepth = 1102.480026; finalDepth = 1101.744626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0326690000002 # Actual altitude: 60.0326690000002 # Commanded vehicle depth: 1101.744626 # Seafloor depth: -1161.777295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 38 # Segment length 101.224789 meters # Minimum depth: 1152.480026 meters looking forward 100.000000 meters along route # Maximum depth: 1156.341160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.480026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759152; longitude = -122.117844; duration = 202; initialDepth = 1116.853618; finalDepth = 1102.480026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0326690000002 # Actual altitude: 60.0326690000002 # Commanded vehicle depth: 1102.480026 # Seafloor depth: -1152.480026 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 38 # Segment length 107.532363 meters # Minimum depth: 1166.853618 meters looking forward 100.000000 meters along route # Maximum depth: 1178.494445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.853618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758803; longitude = -122.118891; duration = 215; initialDepth = 1136.613751; finalDepth = 1116.853618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1116.853618 # Seafloor depth: -1166.853618 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.837077 meters # Minimum depth: 1186.613751 meters looking forward 100.000000 meters along route # Maximum depth: 1201.670562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.613751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758432; longitude = -122.120004; duration = 227; initialDepth = 1152.117813; finalDepth = 1136.613751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1136.613751 # Seafloor depth: -1186.613751 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.228908 meters # Minimum depth: 1202.117813 meters looking forward 100.000000 meters along route # Maximum depth: 1204.515893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.117813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758039; longitude = -122.121183; duration = 202; initialDepth = 1156.516552; finalDepth = 1152.117813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1152.117813 # Seafloor depth: -1202.117813 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.533623 meters # Minimum depth: 1206.516552 meters looking forward 100.000000 meters along route # Maximum depth: 1209.809680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.516552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757690; longitude = -122.122230; duration = 215; initialDepth = 1163.284141; finalDepth = 1156.516552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1156.516552 # Seafloor depth: -1206.516552 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.835481 meters # Minimum depth: 1213.284141 meters looking forward 100.000000 meters along route # Maximum depth: 1227.512485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.284141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757319; longitude = -122.123343; duration = 227; initialDepth = 1178.261067; finalDepth = 1163.284141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1163.284141 # Seafloor depth: -1213.284141 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.233028 meters # Minimum depth: 1228.261067 meters looking forward 100.000000 meters along route # Maximum depth: 1233.838494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.261067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756926; longitude = -122.124521; duration = 202; initialDepth = 1189.435130; finalDepth = 1178.261067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1178.261067 # Seafloor depth: -1228.261067 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.534885 meters # Minimum depth: 1239.435130 meters looking forward 100.000000 meters along route # Maximum depth: 1245.552366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.435130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756577; longitude = -122.125569; duration = 215; initialDepth = 1197.174596; finalDepth = 1189.435130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1189.43513 # Seafloor depth: -1239.435130 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.833884 meters # Minimum depth: 1247.174596 meters looking forward 100.000000 meters along route # Maximum depth: 1251.201055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.174596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756206; longitude = -122.126682; duration = 227; initialDepth = 1201.637497; finalDepth = 1197.174596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1197.174596 # Seafloor depth: -1247.174596 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.237147 meters # Minimum depth: 1251.637497 meters looking forward 100.000000 meters along route # Maximum depth: 1254.879065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.637497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755813; longitude = -122.127860; duration = 202; initialDepth = 1206.529703; finalDepth = 1201.637497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1201.637497 # Seafloor depth: -1251.637497 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.536147 meters # Minimum depth: 1256.529703 meters looking forward 100.000000 meters along route # Maximum depth: 1259.316368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.529703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755464; longitude = -122.128908; duration = 215; initialDepth = 1211.488850; finalDepth = 1206.529703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1206.529703 # Seafloor depth: -1256.529703 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.832288 meters # Minimum depth: 1261.488850 meters looking forward 100.000000 meters along route # Maximum depth: 1262.823081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.488850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755093; longitude = -122.130021; duration = 227; initialDepth = 1213.082475; finalDepth = 1211.488850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1211.48885 # Seafloor depth: -1261.488850 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.241266 meters # Minimum depth: 1263.082475 meters looking forward 100.000000 meters along route # Maximum depth: 1265.045468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.082475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754700; longitude = -122.131199; duration = 202; initialDepth = 1216.759578; finalDepth = 1213.082475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1213.082475 # Seafloor depth: -1263.082475 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.537409 meters # Minimum depth: 1266.759578 meters looking forward 100.000000 meters along route # Maximum depth: 1268.299189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.759578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754351; longitude = -122.132247; duration = 215; initialDepth = 1221.808103; finalDepth = 1216.759578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1216.759578 # Seafloor depth: -1266.759578 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.830692 meters # Minimum depth: 1271.808103 meters looking forward 100.000000 meters along route # Maximum depth: 1275.229864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.808103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753980; longitude = -122.133360; duration = 227; initialDepth = 1225.603749; finalDepth = 1221.808103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1221.808103 # Seafloor depth: -1271.808103 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.245387 meters # Minimum depth: 1275.603749 meters looking forward 100.000000 meters along route # Maximum depth: 1278.352930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.603749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753587; longitude = -122.134538; duration = 202; initialDepth = 1228.967471; finalDepth = 1225.603749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1225.603749 # Seafloor depth: -1275.603749 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 107.538670 meters # Minimum depth: 1278.967471 meters looking forward 100.000000 meters along route # Maximum depth: 1280.148614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.967471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753238; longitude = -122.135586; duration = 215; initialDepth = 1231.077462; finalDepth = 1228.967471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1228.967471 # Seafloor depth: -1278.967471 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 113.829097 meters # Minimum depth: 1281.077462 meters looking forward 100.000000 meters along route # Maximum depth: 1283.661406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.077462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752867; longitude = -122.136699; duration = 227; initialDepth = 1233.819500; finalDepth = 1231.077462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1231.077462 # Seafloor depth: -1281.077462 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 101.249506 meters # Minimum depth: 1283.819500 meters looking forward 100.000000 meters along route # Maximum depth: 1285.041460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.819500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752474; longitude = -122.137877; duration = 202; initialDepth = 1238.134101; finalDepth = 1233.819500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1233.8195 # Seafloor depth: -1283.819500 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 38 # Segment length 131.568695 meters # Minimum depth: 1288.134101 meters looking forward 100.000000 meters along route # Maximum depth: 1290.700683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.134101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752125; longitude = -122.138924; duration = 263; initialDepth = 1237.008545; finalDepth = 1238.134101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1238.134101 # Seafloor depth: -1288.134101 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 37 # Segment length 150.000000 meters # Minimum depth: 1287.008545 meters looking forward 100.000000 meters along route # Maximum depth: 1297.919210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.008545 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751671; longitude = -122.140286; duration = 300; # abortOnTimeout = True; initialDepth = 1249.363434; finalDepth = 1237.008545; 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: 1237.008545 # Seafloor depth: -1287.008545 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 36 # Segment length 176.946579 meters # Minimum depth: 1299.363434 meters looking forward 100.000000 meters along route # Maximum depth: 1300.597147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.363434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750422; longitude = -122.139643; duration = 353; # abortOnTimeout = True; initialDepth = 1242.627116; finalDepth = 1249.363434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1249.363434 # Seafloor depth: -1299.363434 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 36 # Segment length 107.540803 meters # Minimum depth: 1292.627116 meters looking forward 100.000000 meters along route # Maximum depth: 1296.020800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.627116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751033; longitude = -122.137811; duration = 215; initialDepth = 1240.374788; finalDepth = 1242.627116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3936840000001 # Actual altitude: 53.3936840000001 # Commanded vehicle depth: 1242.627116 # Seafloor depth: -1296.020800 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.540381 meters # Minimum depth: 1290.374788 meters looking forward 100.000000 meters along route # Maximum depth: 1292.376527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1240.374788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751404; longitude = -122.136699; duration = 215; initialDepth = 1239.378742; finalDepth = 1240.374788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3936840000001 # Actual altitude: 53.3936840000001 # Commanded vehicle depth: 1240.374788 # Seafloor depth: -1292.376527 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.539961 meters # Minimum depth: 1289.378742 meters looking forward 100.000000 meters along route # Maximum depth: 1290.383452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.378742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751775; longitude = -122.135586; duration = 215; initialDepth = 1235.641351; finalDepth = 1239.378742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0017389999998 # Actual altitude: 52.0017389999998 # Commanded vehicle depth: 1239.378742 # Seafloor depth: -1290.383452 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 107.539540 meters # Minimum depth: 1285.641351 meters looking forward 100.000000 meters along route # Maximum depth: 1288.671469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.641351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752146; longitude = -122.134473; duration = 215; initialDepth = 1231.805751; finalDepth = 1235.641351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0301179999999 # Actual altitude: 53.0301179999999 # Commanded vehicle depth: 1235.641351 # Seafloor depth: -1288.671469 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; 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 36 # Segment length 107.539120 meters # Minimum depth: 1281.805751 meters looking forward 100.000000 meters along route # Maximum depth: 1285.076940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.805751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752516; longitude = -122.133360; duration = 215; initialDepth = 1226.446707; finalDepth = 1231.805751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2711889999998 # Actual altitude: 53.2711889999998 # Commanded vehicle depth: 1231.805751 # Seafloor depth: -1285.076940 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.31; 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 36 # Segment length 107.538699 meters # Minimum depth: 1276.446707 meters looking forward 100.000000 meters along route # Maximum depth: 1278.423514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.446707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752887; longitude = -122.132247; duration = 215; initialDepth = 1222.478217; finalDepth = 1226.446707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2711889999998 # Actual altitude: 53.2711889999998 # Commanded vehicle depth: 1226.446707 # Seafloor depth: -1278.423514 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.31; 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 36 # Segment length 107.538279 meters # Minimum depth: 1272.478217 meters looking forward 100.000000 meters along route # Maximum depth: 1275.076967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.478217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753258; longitude = -122.131134; duration = 215; initialDepth = 1220.642150; finalDepth = 1222.478217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5987499999999 # Actual altitude: 52.5987499999999 # Commanded vehicle depth: 1222.478217 # Seafloor depth: -1275.076967 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.04; 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 36 # Segment length 107.537857 meters # Minimum depth: 1270.642150 meters looking forward 100.000000 meters along route # Maximum depth: 1272.043025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.642150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753629; longitude = -122.130021; duration = 215; initialDepth = 1214.798015; finalDepth = 1220.642150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5987499999999 # Actual altitude: 52.5987499999999 # Commanded vehicle depth: 1220.64215 # Seafloor depth: -1272.043025 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.04; 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 36 # Segment length 107.537438 meters # Minimum depth: 1264.798015 meters looking forward 100.000000 meters along route # Maximum depth: 1268.038947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.798015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754000; longitude = -122.128908; duration = 215; initialDepth = 1204.613833; finalDepth = 1214.798015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2409319999999 # Actual altitude: 53.2409319999999 # Commanded vehicle depth: 1214.798015 # Seafloor depth: -1268.038947 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.30; 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 36 # Segment length 107.537016 meters # Minimum depth: 1254.613833 meters looking forward 100.000000 meters along route # Maximum depth: 1261.346978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.613833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754371; longitude = -122.127795; duration = 215; initialDepth = 1198.938370; finalDepth = 1204.613833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7331449999999 # Actual altitude: 56.7331449999999 # Commanded vehicle depth: 1204.613833 # Seafloor depth: -1261.346978 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.69; 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 36 # Segment length 107.536597 meters # Minimum depth: 1248.938370 meters looking forward 100.000000 meters along route # Maximum depth: 1253.890500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.938370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754742; longitude = -122.126682; duration = 215; initialDepth = 1183.213046; finalDepth = 1198.938370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7331449999999 # Actual altitude: 56.7331449999999 # Commanded vehicle depth: 1198.93837 # Seafloor depth: -1253.890500 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.69; 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 36 # Segment length 107.536175 meters # Minimum depth: 1233.213046 meters looking forward 100.000000 meters along route # Maximum depth: 1240.281683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.213046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755113; longitude = -122.125569; duration = 215; initialDepth = 1176.031051; finalDepth = 1183.213046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0686369999999 # Actual altitude: 57.0686369999999 # Commanded vehicle depth: 1183.213046 # Seafloor depth: -1240.281683 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.83; 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 36 # Segment length 107.535755 meters # Minimum depth: 1226.031051 meters looking forward 100.000000 meters along route # Maximum depth: 1227.299623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.031051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755484; longitude = -122.124456; duration = 215; initialDepth = 1176.848526; finalDepth = 1176.031051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0686369999999 # Actual altitude: 57.0686369999999 # Commanded vehicle depth: 1176.031051 # Seafloor depth: -1227.299623 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.83; 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 36 # Segment length 107.535335 meters # Minimum depth: 1226.848526 meters looking forward 100.000000 meters along route # Maximum depth: 1227.140960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.848526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755855; longitude = -122.123343; duration = 215; initialDepth = 1172.943519; finalDepth = 1176.848526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2685720000002 # Actual altitude: 51.2685720000002 # Commanded vehicle depth: 1176.848526 # Seafloor depth: -1227.140960 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.51; 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 36 # Segment length 107.534915 meters # Minimum depth: 1222.943519 meters looking forward 100.000000 meters along route # Maximum depth: 1225.000911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.943519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756226; longitude = -122.122230; duration = 215; initialDepth = 1157.083394; finalDepth = 1172.943519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0573920000002 # Actual altitude: 52.0573920000002 # Commanded vehicle depth: 1172.943519 # Seafloor depth: -1225.000911 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 36 # Segment length 107.534494 meters # Minimum depth: 1207.083394 meters looking forward 100.000000 meters along route # Maximum depth: 1218.540744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.083394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756597; longitude = -122.121117; duration = 215; initialDepth = 1150.190199; finalDepth = 1157.083394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4573499999999 # Actual altitude: 61.4573499999999 # Commanded vehicle depth: 1157.083394 # Seafloor depth: -1218.540744 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.534073 meters # Minimum depth: 1200.190199 meters looking forward 100.000000 meters along route # Maximum depth: 1205.472780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.190199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756968; longitude = -122.120004; duration = 215; initialDepth = 1143.613790; finalDepth = 1150.190199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4573499999999 # Actual altitude: 61.4573499999999 # Commanded vehicle depth: 1150.190199 # Seafloor depth: -1205.472780 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.533653 meters # Minimum depth: 1193.613790 meters looking forward 100.000000 meters along route # Maximum depth: 1194.445658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.613790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757339; longitude = -122.118891; duration = 215; initialDepth = 1142.953547; finalDepth = 1143.613790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2825810000002 # Actual altitude: 55.2825810000002 # Commanded vehicle depth: 1143.61379 # Seafloor depth: -1194.445658 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.11; 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 36 # Segment length 107.533233 meters # Minimum depth: 1192.953547 meters looking forward 100.000000 meters along route # Maximum depth: 1196.542245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.953547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757710; longitude = -122.117779; duration = 215; initialDepth = 1135.256727; finalDepth = 1142.953547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1001839999999 # Actual altitude: 53.1001839999999 # Commanded vehicle depth: 1142.953547 # Seafloor depth: -1196.053731 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.532813 meters # Minimum depth: 1185.256727 meters looking forward 100.000000 meters along route # Maximum depth: 1192.140714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.256727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758081; longitude = -122.116666; duration = 215; initialDepth = 1106.690482; finalDepth = 1135.256727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8839869999999 # Actual altitude: 56.8839869999999 # Commanded vehicle depth: 1135.256727 # Seafloor depth: -1192.140714 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.75; 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 36 # Segment length 107.532392 meters # Minimum depth: 1156.690482 meters looking forward 100.000000 meters along route # Maximum depth: 1173.901679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.690482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758452; longitude = -122.115553; duration = 215; initialDepth = 1076.930507; finalDepth = 1106.690482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.2111970000001 # Actual altitude: 67.2111970000001 # Commanded vehicle depth: 1106.690482 # Seafloor depth: -1173.901679 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 36 # Segment length 107.531972 meters # Minimum depth: 1126.930507 meters looking forward 100.000000 meters along route # Maximum depth: 1140.852509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.930507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758823; longitude = -122.114440; duration = 215; initialDepth = 1054.165875; finalDepth = 1076.930507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.2111970000001 # Actual altitude: 67.2111970000001 # Commanded vehicle depth: 1076.930507 # Seafloor depth: -1140.852509 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 36 # Segment length 107.531552 meters # Minimum depth: 1104.165875 meters looking forward 100.000000 meters along route # Maximum depth: 1124.385720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.165875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759194; longitude = -122.113327; duration = 215; initialDepth = 1017.340050; finalDepth = 1054.165875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2198450000001 # Actual altitude: 70.2198450000001 # Commanded vehicle depth: 1054.165875 # Seafloor depth: -1124.385720 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.09; 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 36 # Segment length 107.531131 meters # Minimum depth: 1067.340050 meters looking forward 100.000000 meters along route # Maximum depth: 1083.700156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.340050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759565; longitude = -122.112214; duration = 215; initialDepth = 1002.912719; finalDepth = 1017.340050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2198450000001 # Actual altitude: 70.2198450000001 # Commanded vehicle depth: 1017.34005 # Seafloor depth: -1083.700156 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.09; 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 36 # Segment length 107.530711 meters # Minimum depth: 1052.912719 meters looking forward 100.000000 meters along route # Maximum depth: 1056.396837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.912719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759936; longitude = -122.111101; duration = 215; initialDepth = 1008.470901; finalDepth = 1002.912719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3601060000001 # Actual altitude: 66.3601060000001 # Commanded vehicle depth: 1002.912719 # Seafloor depth: -1056.275594 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.54; 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 36 # Segment length 107.530291 meters # Minimum depth: 1058.470901 meters looking forward 100.000000 meters along route # Maximum depth: 1070.662749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.470901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760307; longitude = -122.109988; duration = 215; initialDepth = 1034.024503; finalDepth = 1008.470901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.362875 # Actual altitude: 53.362875 # Commanded vehicle depth: 1008.470901 # Seafloor depth: -1058.470901 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 36 # Segment length 107.529871 meters # Minimum depth: 1084.024503 meters looking forward 100.000000 meters along route # Maximum depth: 1092.538609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.024503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760678; longitude = -122.108875; duration = 215; initialDepth = 1054.158626; finalDepth = 1034.024503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1034.024503 # Seafloor depth: -1084.024503 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 36 # Segment length 145.837460 meters # Minimum depth: 1104.158626 meters looking forward 100.000000 meters along route # Maximum depth: 1122.130075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.158626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761049; longitude = -122.107762; duration = 291; initialDepth = 1064.002747; finalDepth = 1054.158626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1054.158626 # Seafloor depth: -1104.158626 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 35 # Segment length 150.000000 meters # Minimum depth: 1114.002747 meters looking forward 100.000000 meters along route # Maximum depth: 1140.188355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.002747 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761552; longitude = -122.106253; duration = 300; # abortOnTimeout = True; initialDepth = 1101.545410; finalDepth = 1064.002747; 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: 1064.002747 # Seafloor depth: -1114.002747 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 100.421574 meters # Minimum depth: 1151.545410 meters looking forward 100.000000 meters along route # Maximum depth: 1163.202724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.545410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760303; longitude = -122.105610; duration = 200; # abortOnTimeout = True; initialDepth = 1060.779884; finalDepth = 1101.545410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1101.54541 # Seafloor depth: -1151.545410 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.531162 meters # Minimum depth: 1110.779884 meters looking forward 100.000000 meters along route # Maximum depth: 1143.024181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.779884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759957; longitude = -122.106649; duration = 215; initialDepth = 1026.850075; finalDepth = 1060.779884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.244297 # Actual altitude: 82.244297 # Commanded vehicle depth: 1060.779884 # Seafloor depth: -1143.024181 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.90; 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 34 # Segment length 107.531582 meters # Minimum depth: 1076.850075 meters looking forward 100.000000 meters along route # Maximum depth: 1093.620180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.850075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759586; longitude = -122.107762; duration = 215; initialDepth = 1019.883997; finalDepth = 1026.850075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.244297 # Actual altitude: 82.244297 # Commanded vehicle depth: 1026.850075 # Seafloor depth: -1093.620180 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.90; 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 34 # Segment length 107.532003 meters # Minimum depth: 1069.883997 meters looking forward 100.000000 meters along route # Maximum depth: 1074.058480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.883997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759215; longitude = -122.108875; duration = 215; initialDepth = 1031.006928; finalDepth = 1019.883997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7701049999998 # Actual altitude: 66.7701049999998 # Commanded vehicle depth: 1019.883997 # Seafloor depth: -1069.883997 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.532423 meters # Minimum depth: 1081.006928 meters looking forward 100.000000 meters along route # Maximum depth: 1091.444689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.006928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758844; longitude = -122.109988; duration = 215; initialDepth = 1048.035656; finalDepth = 1031.006928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1031.006928 # Seafloor depth: -1081.006928 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.532843 meters # Minimum depth: 1098.035656 meters looking forward 100.000000 meters along route # Maximum depth: 1111.311914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.035656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758473; longitude = -122.111101; duration = 215; initialDepth = 1076.352384; finalDepth = 1048.035656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1048.035656 # Seafloor depth: -1098.035656 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.533263 meters # Minimum depth: 1126.352384 meters looking forward 100.000000 meters along route # Maximum depth: 1141.029765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.352384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758102; longitude = -122.112214; duration = 215; initialDepth = 1105.127695; finalDepth = 1076.352384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1076.352384 # Seafloor depth: -1126.352384 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.533683 meters # Minimum depth: 1155.127695 meters looking forward 100.000000 meters along route # Maximum depth: 1172.888046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.127695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757731; longitude = -122.113327; duration = 215; initialDepth = 1131.930153; finalDepth = 1105.127695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1105.127695 # Seafloor depth: -1155.127695 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.534104 meters # Minimum depth: 1181.930153 meters looking forward 100.000000 meters along route # Maximum depth: 1189.672082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.930153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757360; longitude = -122.114440; duration = 215; initialDepth = 1147.944110; finalDepth = 1131.930153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1131.930153 # Seafloor depth: -1181.930153 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.534524 meters # Minimum depth: 1197.944110 meters looking forward 100.000000 meters along route # Maximum depth: 1209.201562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.944110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756989; longitude = -122.115553; duration = 215; initialDepth = 1165.351549; finalDepth = 1147.944110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1147.94411 # Seafloor depth: -1197.944110 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.534944 meters # Minimum depth: 1215.351549 meters looking forward 100.000000 meters along route # Maximum depth: 1222.138098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.351549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756618; longitude = -122.116666; duration = 215; initialDepth = 1173.995542; finalDepth = 1165.351549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1165.351549 # Seafloor depth: -1215.351549 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.535365 meters # Minimum depth: 1223.995542 meters looking forward 100.000000 meters along route # Maximum depth: 1224.350715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.995542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756247; longitude = -122.117779; duration = 215; initialDepth = 1175.189382; finalDepth = 1173.995542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1173.995542 # Seafloor depth: -1223.995542 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.535785 meters # Minimum depth: 1225.189382 meters looking forward 100.000000 meters along route # Maximum depth: 1226.018937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.189382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755876; longitude = -122.118891; duration = 215; initialDepth = 1178.681362; finalDepth = 1175.189382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1175.189382 # Seafloor depth: -1225.189382 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.536205 meters # Minimum depth: 1228.681362 meters looking forward 100.000000 meters along route # Maximum depth: 1234.044244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.681362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755505; longitude = -122.120004; duration = 215; initialDepth = 1185.903988; finalDepth = 1178.681362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1178.681362 # Seafloor depth: -1228.681362 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.536626 meters # Minimum depth: 1235.903988 meters looking forward 100.000000 meters along route # Maximum depth: 1237.287371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.903988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755134; longitude = -122.121117; duration = 215; initialDepth = 1188.652477; finalDepth = 1185.903988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1185.903988 # Seafloor depth: -1235.903988 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.537046 meters # Minimum depth: 1238.652477 meters looking forward 100.000000 meters along route # Maximum depth: 1240.046342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.652477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754763; longitude = -122.122230; duration = 215; initialDepth = 1187.761055; finalDepth = 1188.652477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1188.652477 # Seafloor depth: -1238.652477 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.537466 meters # Minimum depth: 1237.761055 meters looking forward 100.000000 meters along route # Maximum depth: 1240.405090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.761055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754392; longitude = -122.123343; duration = 215; initialDepth = 1186.178912; finalDepth = 1187.761055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.644035 # Actual altitude: 52.644035 # Commanded vehicle depth: 1187.761055 # Seafloor depth: -1240.405090 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 34 # Segment length 107.537887 meters # Minimum depth: 1236.178912 meters looking forward 100.000000 meters along route # Maximum depth: 1238.233229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.178912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754021; longitude = -122.124456; duration = 215; initialDepth = 1193.846907; finalDepth = 1186.178912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.644035 # Actual altitude: 52.644035 # Commanded vehicle depth: 1186.178912 # Seafloor depth: -1236.178912 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 34 # Segment length 107.538308 meters # Minimum depth: 1243.846907 meters looking forward 100.000000 meters along route # Maximum depth: 1250.886514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.846907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753650; longitude = -122.125569; duration = 215; initialDepth = 1207.001480; finalDepth = 1193.846907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1193.846907 # Seafloor depth: -1243.846907 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.538728 meters # Minimum depth: 1257.001480 meters looking forward 100.000000 meters along route # Maximum depth: 1264.836696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.001480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753279; longitude = -122.126682; duration = 215; initialDepth = 1219.106171; finalDepth = 1207.001480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1207.00148 # Seafloor depth: -1257.001480 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.539148 meters # Minimum depth: 1269.106171 meters looking forward 100.000000 meters along route # Maximum depth: 1274.194939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.106171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752908; longitude = -122.127795; duration = 215; initialDepth = 1227.344495; finalDepth = 1219.106171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1219.106171 # Seafloor depth: -1269.106171 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.539569 meters # Minimum depth: 1277.344495 meters looking forward 100.000000 meters along route # Maximum depth: 1280.082385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.344495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752537; longitude = -122.128908; duration = 215; initialDepth = 1231.455221; finalDepth = 1227.344495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1227.344495 # Seafloor depth: -1277.344495 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.539990 meters # Minimum depth: 1281.455221 meters looking forward 100.000000 meters along route # Maximum depth: 1285.583902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.455221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752166; longitude = -122.130021; duration = 215; initialDepth = 1238.440203; finalDepth = 1231.455221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1231.455221 # Seafloor depth: -1281.455221 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.540410 meters # Minimum depth: 1288.440203 meters looking forward 100.000000 meters along route # Maximum depth: 1292.179135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.440203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751795; longitude = -122.131134; duration = 215; initialDepth = 1245.861053; finalDepth = 1238.440203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1238.440203 # Seafloor depth: -1288.440203 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.540831 meters # Minimum depth: 1295.861053 meters looking forward 100.000000 meters along route # Maximum depth: 1296.890323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1245.861053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751424; longitude = -122.132247; duration = 215; initialDepth = 1247.617869; finalDepth = 1245.861053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1245.861053 # Seafloor depth: -1295.861053 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.541251 meters # Minimum depth: 1297.617869 meters looking forward 100.000000 meters along route # Maximum depth: 1298.969214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.617869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751053; longitude = -122.133360; duration = 215; initialDepth = 1249.128453; finalDepth = 1247.617869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1247.617869 # Seafloor depth: -1297.617869 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.541673 meters # Minimum depth: 1299.128453 meters looking forward 100.000000 meters along route # Maximum depth: 1300.196090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.128453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750682; longitude = -122.134473; duration = 215; initialDepth = 1251.893956; finalDepth = 1249.128453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1249.128453 # Seafloor depth: -1299.128453 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.542092 meters # Minimum depth: 1301.893956 meters looking forward 100.000000 meters along route # Maximum depth: 1303.160304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.893956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750311; longitude = -122.135586; duration = 215; initialDepth = 1253.363845; finalDepth = 1251.893956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1251.893956 # Seafloor depth: -1301.893956 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 107.542514 meters # Minimum depth: 1303.363845 meters looking forward 100.000000 meters along route # Maximum depth: 1304.527084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.363845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749940; longitude = -122.136699; duration = 215; initialDepth = 1254.552723; finalDepth = 1253.363845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1253.363845 # Seafloor depth: -1303.363845 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 34 # Segment length 114.785097 meters # Minimum depth: 1304.552723 meters looking forward 100.000000 meters along route # Maximum depth: 1305.398113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.552723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749569; longitude = -122.137811; duration = 229; initialDepth = 1254.080658; finalDepth = 1254.552723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1254.552723 # Seafloor depth: -1304.552723 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 33 # Segment length 150.000000 meters # Minimum depth: 1304.080658 meters looking forward 100.000000 meters along route # Maximum depth: 1305.963551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.080658 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749173; longitude = -122.138999; duration = 300; # abortOnTimeout = True; initialDepth = 1256.360910; finalDepth = 1254.080658; 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: 1254.080658 # Seafloor depth: -1304.080658 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 106.395925 meters # Minimum depth: 1306.360910 meters looking forward 100.000000 meters along route # Maximum depth: 1306.763354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1256.360910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747924; longitude = -122.138356; duration = 212; # abortOnTimeout = True; initialDepth = 1258.901981; finalDepth = 1256.360910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3180149999998 # Actual altitude: 50.3180149999998 # Commanded vehicle depth: 1256.36091 # Seafloor depth: -1306.678925 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 32 # Segment length 107.544014 meters # Minimum depth: 1308.901981 meters looking forward 100.000000 meters along route # Maximum depth: 1309.711710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.901981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748291; longitude = -122.137255; duration = 215; initialDepth = 1257.664483; finalDepth = 1258.901981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3180149999998 # Actual altitude: 50.3180149999998 # Commanded vehicle depth: 1258.901981 # Seafloor depth: -1308.901981 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 32 # Segment length 107.543594 meters # Minimum depth: 1307.664483 meters looking forward 100.000000 meters along route # Maximum depth: 1308.517584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1257.664483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748662; longitude = -122.136142; duration = 215; initialDepth = 1256.814153; finalDepth = 1257.664483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8531009999999 # Actual altitude: 50.8531009999999 # Commanded vehicle depth: 1257.664483 # Seafloor depth: -1308.517584 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.543173 meters # Minimum depth: 1306.814153 meters looking forward 100.000000 meters along route # Maximum depth: 1307.675820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1256.814153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749033; longitude = -122.135029; duration = 215; initialDepth = 1252.798912; finalDepth = 1256.814153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8616669999999 # Actual altitude: 50.8616669999999 # Commanded vehicle depth: 1256.814153 # Seafloor depth: -1307.675820 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.542752 meters # Minimum depth: 1302.798912 meters looking forward 100.000000 meters along route # Maximum depth: 1305.186695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.798912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749404; longitude = -122.133916; duration = 215; initialDepth = 1252.481877; finalDepth = 1252.798912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3877830000001 # Actual altitude: 52.3877830000001 # Commanded vehicle depth: 1252.798912 # Seafloor depth: -1305.186695 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.542332 meters # Minimum depth: 1302.481877 meters looking forward 100.000000 meters along route # Maximum depth: 1302.575811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.481877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749775; longitude = -122.132803; duration = 215; initialDepth = 1251.209896; finalDepth = 1252.481877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3877830000001 # Actual altitude: 52.3877830000001 # Commanded vehicle depth: 1252.481877 # Seafloor depth: -1302.481877 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.541911 meters # Minimum depth: 1301.209896 meters looking forward 100.000000 meters along route # Maximum depth: 1302.305597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.209896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750146; longitude = -122.131690; duration = 215; initialDepth = 1242.823233; finalDepth = 1251.209896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.095701 # Actual altitude: 51.095701 # Commanded vehicle depth: 1251.209896 # Seafloor depth: -1302.305597 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.541490 meters # Minimum depth: 1292.823233 meters looking forward 100.000000 meters along route # Maximum depth: 1298.237935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.823233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750517; longitude = -122.130577; duration = 215; initialDepth = 1237.820180; finalDepth = 1242.823233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.414702 # Actual altitude: 55.414702 # Commanded vehicle depth: 1242.823233 # Seafloor depth: -1298.237935 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 32 # Segment length 107.541070 meters # Minimum depth: 1287.820180 meters looking forward 100.000000 meters along route # Maximum depth: 1291.486857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.820180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750888; longitude = -122.129464; duration = 215; initialDepth = 1230.438226; finalDepth = 1237.820180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.414702 # Actual altitude: 55.414702 # Commanded vehicle depth: 1237.82018 # Seafloor depth: -1291.486857 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 32 # Segment length 107.540650 meters # Minimum depth: 1280.438226 meters looking forward 100.000000 meters along route # Maximum depth: 1284.667016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.438226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751259; longitude = -122.128351; duration = 215; initialDepth = 1213.741123; finalDepth = 1230.438226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2287900000001 # Actual altitude: 54.2287900000001 # Commanded vehicle depth: 1230.438226 # Seafloor depth: -1284.667016 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.69; 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 32 # Segment length 107.540229 meters # Minimum depth: 1263.741123 meters looking forward 100.000000 meters along route # Maximum depth: 1274.353985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.741123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751630; longitude = -122.127239; duration = 215; initialDepth = 1204.978640; finalDepth = 1213.741123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.612862 # Actual altitude: 60.612862 # Commanded vehicle depth: 1213.741123 # Seafloor depth: -1274.353985 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.25; 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 32 # Segment length 107.539808 meters # Minimum depth: 1254.978640 meters looking forward 100.000000 meters along route # Maximum depth: 1261.490066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.978640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752001; longitude = -122.126126; duration = 215; initialDepth = 1199.869440; finalDepth = 1204.978640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.612862 # Actual altitude: 60.612862 # Commanded vehicle depth: 1204.97864 # Seafloor depth: -1261.490066 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.25; 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 32 # Segment length 107.539388 meters # Minimum depth: 1249.869440 meters looking forward 100.000000 meters along route # Maximum depth: 1250.756128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1199.869440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752372; longitude = -122.125013; duration = 215; initialDepth = 1201.489097; finalDepth = 1199.869440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.511426 # Actual altitude: 56.511426 # Commanded vehicle depth: 1199.86944 # Seafloor depth: -1250.756128 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.60; 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 32 # Segment length 107.538968 meters # Minimum depth: 1251.489097 meters looking forward 100.000000 meters along route # Maximum depth: 1254.932408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.489097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752743; longitude = -122.123900; duration = 215; initialDepth = 1204.727824; finalDepth = 1201.489097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.886688 # Actual altitude: 50.886688 # Commanded vehicle depth: 1201.489097 # Seafloor depth: -1251.489097 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.35; 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 32 # Segment length 107.538547 meters # Minimum depth: 1254.727824 meters looking forward 100.000000 meters along route # Maximum depth: 1255.667217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.727824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753114; longitude = -122.122787; duration = 215; initialDepth = 1200.948606; finalDepth = 1204.727824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9393929999999 # Actual altitude: 50.9393929999999 # Commanded vehicle depth: 1204.727824 # Seafloor depth: -1255.667217 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 32 # Segment length 107.538127 meters # Minimum depth: 1250.948606 meters looking forward 100.000000 meters along route # Maximum depth: 1252.368792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.948606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753485; longitude = -122.121674; duration = 215; initialDepth = 1200.544926; finalDepth = 1200.948606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4201860000001 # Actual altitude: 51.4201860000001 # Commanded vehicle depth: 1200.948606 # Seafloor depth: -1252.368792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 32 # Segment length 107.537706 meters # Minimum depth: 1250.544926 meters looking forward 100.000000 meters along route # Maximum depth: 1251.509243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.544926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753856; longitude = -122.120561; duration = 215; initialDepth = 1201.998284; finalDepth = 1200.544926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4201860000001 # Actual altitude: 51.4201860000001 # Commanded vehicle depth: 1200.544926 # Seafloor depth: -1250.544926 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 32 # Segment length 107.537286 meters # Minimum depth: 1251.998284 meters looking forward 100.000000 meters along route # Maximum depth: 1252.020232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.998284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754227; longitude = -122.119448; duration = 215; initialDepth = 1195.487959; finalDepth = 1201.998284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1201.998284 # Seafloor depth: -1251.998284 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.536866 meters # Minimum depth: 1245.487959 meters looking forward 100.000000 meters along route # Maximum depth: 1249.144303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.487959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754598; longitude = -122.118335; duration = 215; initialDepth = 1178.120013; finalDepth = 1195.487959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.656344 # Actual altitude: 53.656344 # Commanded vehicle depth: 1195.487959 # Seafloor depth: -1249.144303 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.536445 meters # Minimum depth: 1228.120013 meters looking forward 100.000000 meters along route # Maximum depth: 1240.624506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.120013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754969; longitude = -122.117222; duration = 215; initialDepth = 1164.637695; finalDepth = 1178.120013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5044930000001 # Actual altitude: 62.5044930000001 # Commanded vehicle depth: 1178.120013 # Seafloor depth: -1240.624506 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.536026 meters # Minimum depth: 1214.637695 meters looking forward 100.000000 meters along route # Maximum depth: 1224.840141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.637695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755340; longitude = -122.116109; duration = 215; initialDepth = 1143.682495; finalDepth = 1164.637695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5044930000001 # Actual altitude: 62.5044930000001 # Commanded vehicle depth: 1164.637695 # Seafloor depth: -1224.840141 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.535605 meters # Minimum depth: 1193.682495 meters looking forward 100.000000 meters along route # Maximum depth: 1203.868730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.682495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755711; longitude = -122.114996; duration = 215; initialDepth = 1122.821277; finalDepth = 1143.682495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.202446 # Actual altitude: 60.202446 # Commanded vehicle depth: 1143.682495 # Seafloor depth: -1203.868730 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.08; 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 32 # Segment length 107.535184 meters # Minimum depth: 1172.821277 meters looking forward 100.000000 meters along route # Maximum depth: 1184.281635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.821277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756082; longitude = -122.113883; duration = 215; initialDepth = 1120.989551; finalDepth = 1122.821277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.460358 # Actual altitude: 61.460358 # Commanded vehicle depth: 1122.821277 # Seafloor depth: -1184.281635 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.534765 meters # Minimum depth: 1170.989551 meters looking forward 100.000000 meters along route # Maximum depth: 1171.028372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.989551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756453; longitude = -122.112770; duration = 215; initialDepth = 1108.310429; finalDepth = 1120.989551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.460358 # Actual altitude: 61.460358 # Commanded vehicle depth: 1120.989551 # Seafloor depth: -1170.989551 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.534344 meters # Minimum depth: 1158.310429 meters looking forward 100.000000 meters along route # Maximum depth: 1166.307509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.310429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756824; longitude = -122.111657; duration = 215; initialDepth = 1068.464019; finalDepth = 1108.310429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9970799999999 # Actual altitude: 57.9970799999999 # Commanded vehicle depth: 1108.310429 # Seafloor depth: -1166.307509 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.20; 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 32 # Segment length 107.533924 meters # Minimum depth: 1118.464019 meters looking forward 100.000000 meters along route # Maximum depth: 1143.296893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.464019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757195; longitude = -122.110544; duration = 215; initialDepth = 1056.412625; finalDepth = 1068.464019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8328739999999 # Actual altitude: 74.8328739999999 # Commanded vehicle depth: 1068.464019 # Seafloor depth: -1143.296893 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.93; 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 32 # Segment length 107.533504 meters # Minimum depth: 1106.412625 meters looking forward 100.000000 meters along route # Maximum depth: 1112.720530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.412625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757566; longitude = -122.109431; duration = 215; initialDepth = 1049.685178; finalDepth = 1056.412625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8328739999999 # Actual altitude: 74.8328739999999 # Commanded vehicle depth: 1056.412625 # Seafloor depth: -1112.720530 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.93; 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 32 # Segment length 107.533084 meters # Minimum depth: 1099.685178 meters looking forward 100.000000 meters along route # Maximum depth: 1103.154311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.685178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757937; longitude = -122.108319; duration = 215; initialDepth = 1052.152678; finalDepth = 1049.685178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3079050000001 # Actual altitude: 56.3079050000001 # Commanded vehicle depth: 1049.685178 # Seafloor depth: -1103.154311 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 32 # Segment length 107.532664 meters # Minimum depth: 1102.152678 meters looking forward 100.000000 meters along route # Maximum depth: 1118.176481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.152678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758307; longitude = -122.107206; duration = 215; initialDepth = 1078.915636; finalDepth = 1052.152678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4691330000001 # Actual altitude: 53.4691330000001 # Commanded vehicle depth: 1052.152678 # Seafloor depth: -1102.152678 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; 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 32 # Segment length 108.768715 meters # Minimum depth: 1128.915636 meters looking forward 100.000000 meters along route # Maximum depth: 1178.174619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.915636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758678; longitude = -122.106093; duration = 217; initialDepth = 1124.127982; finalDepth = 1078.915636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1078.915636 # Seafloor depth: -1128.915636 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 31 # Segment length 150.000000 meters # Minimum depth: 1174.127982 meters looking forward 100.000000 meters along route # Maximum depth: 1181.544647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.127982 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759054; longitude = -122.104967; duration = 300; # abortOnTimeout = True; initialDepth = 1095.418988; finalDepth = 1124.127982; 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: 57.416665 # Actual altitude: 57.416665 # Commanded vehicle depth: 1124.127982 # Seafloor depth: -1181.544647 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 30 # Segment length 170.881136 meters # Minimum depth: 1145.418988 meters looking forward 100.000000 meters along route # Maximum depth: 1184.079346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.418988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757804; longitude = -122.104324; duration = 341; # abortOnTimeout = True; initialDepth = 1094.324075; finalDepth = 1095.418988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6603580000001 # Actual altitude: 88.6603580000001 # Commanded vehicle depth: 1095.418988 # Seafloor depth: -1184.079346 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.46; 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 30 # Segment length 107.534375 meters # Minimum depth: 1144.324075 meters looking forward 100.000000 meters along route # Maximum depth: 1146.550252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.324075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757215; longitude = -122.106093; duration = 215; initialDepth = 1093.464430; finalDepth = 1094.324075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6603580000001 # Actual altitude: 88.6603580000001 # Commanded vehicle depth: 1094.324075 # Seafloor depth: -1144.324075 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 35.46; 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 30 # Segment length 107.534796 meters # Minimum depth: 1143.464430 meters looking forward 100.000000 meters along route # Maximum depth: 1144.826966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.464430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756844; longitude = -122.107206; duration = 215; initialDepth = 1099.151389; finalDepth = 1093.464430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1093.46443 # Seafloor depth: -1143.464430 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.535215 meters # Minimum depth: 1149.151389 meters looking forward 100.000000 meters along route # Maximum depth: 1156.899942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.151389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756473; longitude = -122.108319; duration = 215; initialDepth = 1114.239782; finalDepth = 1099.151389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1099.151389 # Seafloor depth: -1149.151389 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.535636 meters # Minimum depth: 1164.239782 meters looking forward 100.000000 meters along route # Maximum depth: 1176.183254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.239782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756102; longitude = -122.109431; duration = 215; initialDepth = 1130.393447; finalDepth = 1114.239782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1114.239782 # Seafloor depth: -1164.239782 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.536055 meters # Minimum depth: 1180.393447 meters looking forward 100.000000 meters along route # Maximum depth: 1190.888185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.393447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755731; longitude = -122.110544; duration = 215; initialDepth = 1148.163885; finalDepth = 1130.393447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1130.393447 # Seafloor depth: -1180.393447 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.536476 meters # Minimum depth: 1198.163885 meters looking forward 100.000000 meters along route # Maximum depth: 1202.826836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.163885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755360; longitude = -122.111657; duration = 215; initialDepth = 1151.721680; finalDepth = 1148.163885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1148.163885 # Seafloor depth: -1198.163885 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.536896 meters # Minimum depth: 1201.721680 meters looking forward 100.000000 meters along route # Maximum depth: 1203.956891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.721680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754989; longitude = -122.112770; duration = 215; initialDepth = 1152.166231; finalDepth = 1151.721680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2352109999999 # Actual altitude: 52.2352109999999 # Commanded vehicle depth: 1151.72168 # Seafloor depth: -1203.956891 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.537317 meters # Minimum depth: 1202.166231 meters looking forward 100.000000 meters along route # Maximum depth: 1211.725593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.166231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754618; longitude = -122.113883; duration = 215; initialDepth = 1174.546465; finalDepth = 1152.166231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2352109999999 # Actual altitude: 52.2352109999999 # Commanded vehicle depth: 1152.166231 # Seafloor depth: -1202.166231 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.537736 meters # Minimum depth: 1224.546465 meters looking forward 100.000000 meters along route # Maximum depth: 1235.771040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.546465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754247; longitude = -122.114996; duration = 215; initialDepth = 1194.651963; finalDepth = 1174.546465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1174.546465 # Seafloor depth: -1224.546465 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.538157 meters # Minimum depth: 1244.651963 meters looking forward 100.000000 meters along route # Maximum depth: 1252.195895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.651963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753876; longitude = -122.116109; duration = 215; initialDepth = 1204.215362; finalDepth = 1194.651963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1194.651963 # Seafloor depth: -1244.651963 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.538577 meters # Minimum depth: 1254.215362 meters looking forward 100.000000 meters along route # Maximum depth: 1259.934399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.215362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753505; longitude = -122.117222; duration = 215; initialDepth = 1214.230833; finalDepth = 1204.215362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1204.215362 # Seafloor depth: -1254.215362 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.538997 meters # Minimum depth: 1264.230833 meters looking forward 100.000000 meters along route # Maximum depth: 1266.060050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.230833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753134; longitude = -122.118335; duration = 215; initialDepth = 1217.478106; finalDepth = 1214.230833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1214.230833 # Seafloor depth: -1264.230833 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.539418 meters # Minimum depth: 1267.478106 meters looking forward 100.000000 meters along route # Maximum depth: 1269.593435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.478106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752763; longitude = -122.119448; duration = 215; initialDepth = 1220.716662; finalDepth = 1217.478106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1217.478106 # Seafloor depth: -1267.478106 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.539838 meters # Minimum depth: 1270.716662 meters looking forward 100.000000 meters along route # Maximum depth: 1272.947248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.716662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752392; longitude = -122.120561; duration = 215; initialDepth = 1224.285052; finalDepth = 1220.716662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1220.716662 # Seafloor depth: -1270.716662 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.540258 meters # Minimum depth: 1274.285052 meters looking forward 100.000000 meters along route # Maximum depth: 1274.799679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.285052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752021; longitude = -122.121674; duration = 215; initialDepth = 1216.896482; finalDepth = 1224.285052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1224.285052 # Seafloor depth: -1274.285052 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.540679 meters # Minimum depth: 1266.896482 meters looking forward 100.000000 meters along route # Maximum depth: 1271.114171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.896482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751650; longitude = -122.122787; duration = 215; initialDepth = 1215.827537; finalDepth = 1216.896482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2176889999998 # Actual altitude: 54.2176889999998 # Commanded vehicle depth: 1216.896482 # Seafloor depth: -1271.114171 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.69; 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 30 # Segment length 107.541099 meters # Minimum depth: 1265.827537 meters looking forward 100.000000 meters along route # Maximum depth: 1266.421524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.827537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751279; longitude = -122.123900; duration = 215; initialDepth = 1216.759189; finalDepth = 1215.827537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2176889999998 # Actual altitude: 54.2176889999998 # Commanded vehicle depth: 1215.827537 # Seafloor depth: -1266.421524 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.69; 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 30 # Segment length 107.541520 meters # Minimum depth: 1266.759189 meters looking forward 100.000000 meters along route # Maximum depth: 1272.538768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.759189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750908; longitude = -122.125013; duration = 215; initialDepth = 1227.985555; finalDepth = 1216.759189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5939870000002 # Actual altitude: 50.5939870000002 # Commanded vehicle depth: 1216.759189 # Seafloor depth: -1266.759189 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.24; 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 30 # Segment length 107.541940 meters # Minimum depth: 1277.985555 meters looking forward 100.000000 meters along route # Maximum depth: 1286.161806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.985555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750537; longitude = -122.126126; duration = 215; initialDepth = 1238.641548; finalDepth = 1227.985555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1227.985555 # Seafloor depth: -1277.985555 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.542361 meters # Minimum depth: 1288.641548 meters looking forward 100.000000 meters along route # Maximum depth: 1294.271763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.641548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750166; longitude = -122.127239; duration = 215; initialDepth = 1248.546942; finalDepth = 1238.641548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1238.641548 # Seafloor depth: -1288.641548 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.542781 meters # Minimum depth: 1298.546942 meters looking forward 100.000000 meters along route # Maximum depth: 1301.865764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.546942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749795; longitude = -122.128351; duration = 215; initialDepth = 1255.523889; finalDepth = 1248.546942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1248.546942 # Seafloor depth: -1298.546942 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.543202 meters # Minimum depth: 1305.523889 meters looking forward 100.000000 meters along route # Maximum depth: 1310.304732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.523889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749424; longitude = -122.129464; duration = 215; initialDepth = 1260.214224; finalDepth = 1255.523889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1255.523889 # Seafloor depth: -1305.523889 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.543622 meters # Minimum depth: 1310.214224 meters looking forward 100.000000 meters along route # Maximum depth: 1310.409206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1260.214224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749053; longitude = -122.130577; duration = 215; initialDepth = 1260.525244; finalDepth = 1260.214224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.194982 # Actual altitude: 50.194982 # Commanded vehicle depth: 1260.214224 # Seafloor depth: -1310.409206 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 30 # Segment length 107.544043 meters # Minimum depth: 1310.525244 meters looking forward 100.000000 meters along route # Maximum depth: 1311.759682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1260.525244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748682; longitude = -122.131690; duration = 215; initialDepth = 1262.701075; finalDepth = 1260.525244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.194982 # Actual altitude: 50.194982 # Commanded vehicle depth: 1260.525244 # Seafloor depth: -1310.525244 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 30 # Segment length 107.544463 meters # Minimum depth: 1312.701075 meters looking forward 100.000000 meters along route # Maximum depth: 1314.114303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.701075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748311; longitude = -122.132803; duration = 215; initialDepth = 1263.665840; finalDepth = 1262.701075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1262.701075 # Seafloor depth: -1312.701075 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.544884 meters # Minimum depth: 1313.665840 meters looking forward 100.000000 meters along route # Maximum depth: 1314.214704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.665840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747940; longitude = -122.133916; duration = 215; initialDepth = 1262.541112; finalDepth = 1263.665840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5488640000001 # Actual altitude: 50.5488640000001 # Commanded vehicle depth: 1263.66584 # Seafloor depth: -1314.214704 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 107.545305 meters # Minimum depth: 1312.541112 meters looking forward 100.000000 meters along route # Maximum depth: 1312.796001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.541112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747569; longitude = -122.135029; duration = 215; initialDepth = 1258.720301; finalDepth = 1262.541112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5488640000001 # Actual altitude: 50.5488640000001 # Commanded vehicle depth: 1262.541112 # Seafloor depth: -1312.796001 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 30 # Segment length 151.781314 meters # Minimum depth: 1308.720301 meters looking forward 100.000000 meters along route # Maximum depth: 1311.552830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.720301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747198; longitude = -122.136142; duration = 303; initialDepth = 1250.070404; finalDepth = 1258.720301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.832529 # Actual altitude: 52.832529 # Commanded vehicle depth: 1258.720301 # Seafloor depth: -1311.552830 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # 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 150.000000 meters # Minimum depth: 1300.070404 meters looking forward 100.000000 meters along route # Maximum depth: 1305.626434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.070404 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746675; longitude = -122.137713; duration = 300; # abortOnTimeout = True; initialDepth = 1249.894897; finalDepth = 1250.070404; 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: 55.55603 # Actual altitude: 55.55603 # Commanded vehicle depth: 1250.070404 # Seafloor depth: -1305.626434 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.22; 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 to get to end of line 28 # Segment length 89.622834 meters # Minimum depth: 1299.894897 meters looking forward 100.000000 meters along route # Maximum depth: 1303.031535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.894897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745426; longitude = -122.137070; duration = 179; # abortOnTimeout = True; initialDepth = 1259.800496; finalDepth = 1249.894897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.55603 # Actual altitude: 55.55603 # Commanded vehicle depth: 1249.894897 # Seafloor depth: -1299.894897 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.22; 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 28 # Segment length 107.547016 meters # Minimum depth: 1309.800496 meters looking forward 100.000000 meters along route # Maximum depth: 1313.697021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.800496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745735; longitude = -122.136142; duration = 215; initialDepth = 1266.685072; finalDepth = 1259.800496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1259.800496 # Seafloor depth: -1309.800496 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.546595 meters # Minimum depth: 1316.685072 meters looking forward 100.000000 meters along route # Maximum depth: 1318.974609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1266.685072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746106; longitude = -122.135029; duration = 215; initialDepth = 1269.820041; finalDepth = 1266.685072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1266.685072 # Seafloor depth: -1316.685072 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.546174 meters # Minimum depth: 1319.820041 meters looking forward 100.000000 meters along route # Maximum depth: 1320.526218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1269.820041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746477; longitude = -122.133916; duration = 215; initialDepth = 1271.495063; finalDepth = 1269.820041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1269.820041 # Seafloor depth: -1319.820041 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.545754 meters # Minimum depth: 1321.495063 meters looking forward 100.000000 meters along route # Maximum depth: 1322.309692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.495063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746848; longitude = -122.132803; duration = 215; initialDepth = 1272.170492; finalDepth = 1271.495063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1271.495063 # Seafloor depth: -1321.495063 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.545333 meters # Minimum depth: 1322.170492 meters looking forward 100.000000 meters along route # Maximum depth: 1322.266615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.170492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747219; longitude = -122.131690; duration = 215; initialDepth = 1271.692573; finalDepth = 1272.170492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.096123 # Actual altitude: 50.096123 # Commanded vehicle depth: 1272.170492 # Seafloor depth: -1322.266615 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 28 # Segment length 107.544913 meters # Minimum depth: 1321.692573 meters looking forward 100.000000 meters along route # Maximum depth: 1321.892307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.692573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747590; longitude = -122.130577; duration = 215; initialDepth = 1269.301405; finalDepth = 1271.692573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.199734 # Actual altitude: 50.199734 # Commanded vehicle depth: 1271.692573 # Seafloor depth: -1321.892307 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 28 # Segment length 107.544492 meters # Minimum depth: 1319.301405 meters looking forward 100.000000 meters along route # Maximum depth: 1320.450873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1269.301405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747961; longitude = -122.129464; duration = 215; initialDepth = 1260.009806; finalDepth = 1269.301405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1494680000001 # Actual altitude: 51.1494680000001 # Commanded vehicle depth: 1269.301405 # Seafloor depth: -1320.450873 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 28 # Segment length 107.544072 meters # Minimum depth: 1310.009806 meters looking forward 100.000000 meters along route # Maximum depth: 1316.122898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1260.009806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748332; longitude = -122.128351; duration = 215; initialDepth = 1251.732110; finalDepth = 1260.009806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1130920000001 # Actual altitude: 56.1130920000001 # Commanded vehicle depth: 1260.009806 # Seafloor depth: -1316.122898 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.543651 meters # Minimum depth: 1301.732110 meters looking forward 100.000000 meters along route # Maximum depth: 1306.233493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1251.732110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748703; longitude = -122.127239; duration = 215; initialDepth = 1243.663208; finalDepth = 1251.732110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1130920000001 # Actual altitude: 56.1130920000001 # Commanded vehicle depth: 1251.73211 # Seafloor depth: -1306.233493 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.543231 meters # Minimum depth: 1293.663208 meters looking forward 100.000000 meters along route # Maximum depth: 1298.349474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1243.663208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749074; longitude = -122.126126; duration = 215; initialDepth = 1232.281698; finalDepth = 1243.663208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6862660000002 # Actual altitude: 54.6862660000002 # Commanded vehicle depth: 1243.663208 # Seafloor depth: -1298.349474 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.542810 meters # Minimum depth: 1282.281698 meters looking forward 100.000000 meters along route # Maximum depth: 1288.046034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.281698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749445; longitude = -122.125013; duration = 215; initialDepth = 1232.820733; finalDepth = 1232.281698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.764336 # Actual altitude: 55.764336 # Commanded vehicle depth: 1232.281698 # Seafloor depth: -1288.046034 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.31; 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 28 # Segment length 107.542390 meters # Minimum depth: 1282.820733 meters looking forward 100.000000 meters along route # Maximum depth: 1284.006076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.820733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749816; longitude = -122.123900; duration = 215; initialDepth = 1236.613932; finalDepth = 1232.820733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.764336 # Actual altitude: 55.764336 # Commanded vehicle depth: 1232.820733 # Seafloor depth: -1282.820733 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.31; 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 28 # Segment length 107.541970 meters # Minimum depth: 1286.613932 meters looking forward 100.000000 meters along route # Maximum depth: 1289.344130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.613932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750187; longitude = -122.122787; duration = 215; initialDepth = 1242.778754; finalDepth = 1236.613932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1236.613932 # Seafloor depth: -1286.613932 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.541549 meters # Minimum depth: 1292.778754 meters looking forward 100.000000 meters along route # Maximum depth: 1295.734578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.778754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750558; longitude = -122.121674; duration = 215; initialDepth = 1246.606377; finalDepth = 1242.778754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1242.778754 # Seafloor depth: -1292.778754 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.541129 meters # Minimum depth: 1296.606377 meters looking forward 100.000000 meters along route # Maximum depth: 1296.733507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.606377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750929; longitude = -122.120561; duration = 215; initialDepth = 1242.059720; finalDepth = 1246.606377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1246.606377 # Seafloor depth: -1296.606377 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.540709 meters # Minimum depth: 1292.059720 meters looking forward 100.000000 meters along route # Maximum depth: 1294.145874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.059720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751300; longitude = -122.119448; duration = 215; initialDepth = 1228.210734; finalDepth = 1242.059720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0861540000001 # Actual altitude: 52.0861540000001 # Commanded vehicle depth: 1242.05972 # Seafloor depth: -1294.145874 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 28 # Segment length 107.540288 meters # Minimum depth: 1278.210734 meters looking forward 100.000000 meters along route # Maximum depth: 1288.263536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.210734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751671; longitude = -122.118335; duration = 215; initialDepth = 1213.533976; finalDepth = 1228.210734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0528019999999 # Actual altitude: 60.0528019999999 # Commanded vehicle depth: 1228.210734 # Seafloor depth: -1288.263536 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 28 # Segment length 107.539868 meters # Minimum depth: 1263.533976 meters looking forward 100.000000 meters along route # Maximum depth: 1272.948012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.533976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752042; longitude = -122.117222; duration = 215; initialDepth = 1198.880005; finalDepth = 1213.533976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0528019999999 # Actual altitude: 60.0528019999999 # Commanded vehicle depth: 1213.533976 # Seafloor depth: -1272.948012 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 28 # Segment length 107.539448 meters # Minimum depth: 1248.880005 meters looking forward 100.000000 meters along route # Maximum depth: 1256.368069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.880005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752413; longitude = -122.116109; duration = 215; initialDepth = 1176.649455; finalDepth = 1198.880005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4140360000001 # Actual altitude: 59.4140360000001 # Commanded vehicle depth: 1198.880005 # Seafloor depth: -1256.368069 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.539028 meters # Minimum depth: 1226.649455 meters looking forward 100.000000 meters along route # Maximum depth: 1239.335069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.649455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752784; longitude = -122.114996; duration = 215; initialDepth = 1167.313029; finalDepth = 1176.649455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.685614 # Actual altitude: 62.685614 # Commanded vehicle depth: 1176.649455 # Seafloor depth: -1239.335069 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.07; 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 28 # Segment length 107.538607 meters # Minimum depth: 1217.313029 meters looking forward 100.000000 meters along route # Maximum depth: 1219.842136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.313029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753155; longitude = -122.113883; duration = 215; initialDepth = 1171.710531; finalDepth = 1167.313029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.685614 # Actual altitude: 62.685614 # Commanded vehicle depth: 1167.313029 # Seafloor depth: -1219.842136 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.07; 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 28 # Segment length 107.538187 meters # Minimum depth: 1221.710531 meters looking forward 100.000000 meters along route # Maximum depth: 1225.198730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.710531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753526; longitude = -122.112770; duration = 215; initialDepth = 1168.171007; finalDepth = 1171.710531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5291070000001 # Actual altitude: 52.5291070000001 # Commanded vehicle depth: 1171.710531 # Seafloor depth: -1221.710531 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.01; 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 28 # Segment length 107.537767 meters # Minimum depth: 1218.171007 meters looking forward 100.000000 meters along route # Maximum depth: 1222.911648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.171007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753896; longitude = -122.111657; duration = 215; initialDepth = 1166.963230; finalDepth = 1168.171007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7406410000001 # Actual altitude: 54.7406410000001 # Commanded vehicle depth: 1168.171007 # Seafloor depth: -1222.911648 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.90; 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 28 # Segment length 107.537347 meters # Minimum depth: 1216.963230 meters looking forward 100.000000 meters along route # Maximum depth: 1218.542440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.963230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754267; longitude = -122.110544; duration = 215; initialDepth = 1152.451714; finalDepth = 1166.963230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7406410000001 # Actual altitude: 54.7406410000001 # Commanded vehicle depth: 1166.96323 # Seafloor depth: -1218.542440 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.90; 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 28 # Segment length 107.536927 meters # Minimum depth: 1202.451714 meters looking forward 100.000000 meters along route # Maximum depth: 1209.364244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.451714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754638; longitude = -122.109431; duration = 215; initialDepth = 1147.300334; finalDepth = 1152.451714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9125300000001 # Actual altitude: 56.9125300000001 # Commanded vehicle depth: 1152.451714 # Seafloor depth: -1209.364244 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.536507 meters # Minimum depth: 1197.300334 meters looking forward 100.000000 meters along route # Maximum depth: 1199.964722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.300334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755009; longitude = -122.108319; duration = 215; initialDepth = 1145.684855; finalDepth = 1147.300334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9125300000001 # Actual altitude: 56.9125300000001 # Commanded vehicle depth: 1147.300334 # Seafloor depth: -1199.964722 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 28 # Segment length 107.536086 meters # Minimum depth: 1195.684855 meters looking forward 100.000000 meters along route # Maximum depth: 1197.220649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.684855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755380; longitude = -122.107206; duration = 215; initialDepth = 1157.484497; finalDepth = 1145.684855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6643879999999 # Actual altitude: 52.6643879999999 # Commanded vehicle depth: 1145.684855 # Seafloor depth: -1195.684855 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.07; 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 28 # Segment length 107.535667 meters # Minimum depth: 1207.484497 meters looking forward 100.000000 meters along route # Maximum depth: 1208.199748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.484497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755751; longitude = -122.106093; duration = 215; initialDepth = 1151.498413; finalDepth = 1157.484497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024007 # Actual altitude: 50.024007 # Commanded vehicle depth: 1157.484497 # Seafloor depth: -1207.508504 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 28 # Segment length 125.457747 meters # Minimum depth: 1201.498413 meters looking forward 100.000000 meters along route # Maximum depth: 1222.088108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.498413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756122; longitude = -122.104980; duration = 250; initialDepth = 1175.496490; finalDepth = 1151.498413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.024007 # Actual altitude: 50.024007 # Commanded vehicle depth: 1151.498413 # Seafloor depth: -1201.498413 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 85.220611 meters # Minimum depth: 1225.496490 meters looking forward 100.000000 meters along route # Maximum depth: 1238.159261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.496490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756555; longitude = -122.103681; duration = 170; # abortOnTimeout = True; initialDepth = 1192.381212; finalDepth = 1175.496490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1175.49649 # Seafloor depth: -1225.496490 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 106.525823 meters # Minimum depth: 1242.381212 meters looking forward 100.000000 meters along route # Maximum depth: 1252.010037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.381212 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755813; longitude = -122.103929; duration = 213; initialDepth = 1207.850809; finalDepth = 1192.381212; 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: 1192.381212 # Seafloor depth: -1242.381212 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 179.178936 meters # Minimum depth: 1257.850809 meters looking forward 100.000000 meters along route # Maximum depth: 1258.974121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.850809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754886; longitude = -122.104238; duration = 358; # abortOnTimeout = True; initialDepth = 1196.332710; finalDepth = 1207.850809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1233119999999 # Actual altitude: 51.1233119999999 # Commanded vehicle depth: 1207.850809 # Seafloor depth: -1258.974121 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.45; 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 26 # Segment length 107.507921 meters # Minimum depth: 1246.332710 meters looking forward 100.000000 meters along route # Maximum depth: 1249.377800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.332710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754269; longitude = -122.106093; duration = 215; initialDepth = 1197.319691; finalDepth = 1196.332710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0450900000001 # Actual altitude: 53.0450900000001 # Commanded vehicle depth: 1196.33271 # Seafloor depth: -1249.377800 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.22; 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 26 # Segment length 107.508341 meters # Minimum depth: 1247.319691 meters looking forward 100.000000 meters along route # Maximum depth: 1247.771290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.319691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753898; longitude = -122.107206; duration = 215; initialDepth = 1196.996227; finalDepth = 1197.319691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0450900000001 # Actual altitude: 53.0450900000001 # Commanded vehicle depth: 1197.319691 # Seafloor depth: -1247.771290 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.22; 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 26 # Segment length 107.508760 meters # Minimum depth: 1246.996227 meters looking forward 100.000000 meters along route # Maximum depth: 1247.493996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.996227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753528; longitude = -122.108319; duration = 215; initialDepth = 1193.894085; finalDepth = 1196.996227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4977689999998 # Actual altitude: 50.4977689999998 # Commanded vehicle depth: 1196.996227 # Seafloor depth: -1247.493996 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.20; 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 26 # Segment length 107.509179 meters # Minimum depth: 1243.894085 meters looking forward 100.000000 meters along route # Maximum depth: 1245.665632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.894085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753158; longitude = -122.109431; duration = 215; initialDepth = 1192.989557; finalDepth = 1193.894085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7715470000001 # Actual altitude: 51.7715470000001 # Commanded vehicle depth: 1193.894085 # Seafloor depth: -1245.665632 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.509599 meters # Minimum depth: 1242.989557 meters looking forward 100.000000 meters along route # Maximum depth: 1248.392266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.989557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752788; longitude = -122.110544; duration = 215; initialDepth = 1197.332343; finalDepth = 1192.989557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7715470000001 # Actual altitude: 51.7715470000001 # Commanded vehicle depth: 1192.989557 # Seafloor depth: -1242.989557 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.510018 meters # Minimum depth: 1247.332343 meters looking forward 100.000000 meters along route # Maximum depth: 1248.893371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.332343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752417; longitude = -122.111657; duration = 215; initialDepth = 1190.964909; finalDepth = 1197.332343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5610279999999 # Actual altitude: 51.5610279999999 # Commanded vehicle depth: 1197.332343 # Seafloor depth: -1248.893371 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.62; 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 26 # Segment length 107.510437 meters # Minimum depth: 1240.964909 meters looking forward 100.000000 meters along route # Maximum depth: 1244.415917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.964909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752047; longitude = -122.112770; duration = 215; initialDepth = 1190.550439; finalDepth = 1190.964909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.451008 # Actual altitude: 53.451008 # Commanded vehicle depth: 1190.964909 # Seafloor depth: -1244.415917 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; 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 26 # Segment length 107.510857 meters # Minimum depth: 1240.550439 meters looking forward 100.000000 meters along route # Maximum depth: 1248.981749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.550439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751677; longitude = -122.113883; duration = 215; initialDepth = 1200.825248; finalDepth = 1190.550439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.451008 # Actual altitude: 53.451008 # Commanded vehicle depth: 1190.550439 # Seafloor depth: -1240.550439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; 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 26 # Segment length 107.511277 meters # Minimum depth: 1250.825248 meters looking forward 100.000000 meters along route # Maximum depth: 1260.065479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.825248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751306; longitude = -122.114996; duration = 215; initialDepth = 1219.981324; finalDepth = 1200.825248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1200.825248 # Seafloor depth: -1250.825248 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.511696 meters # Minimum depth: 1269.981324 meters looking forward 100.000000 meters along route # Maximum depth: 1281.563486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.981324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750936; longitude = -122.116109; duration = 215; initialDepth = 1243.161495; finalDepth = 1219.981324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1219.981324 # Seafloor depth: -1269.981324 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.512115 meters # Minimum depth: 1293.161495 meters looking forward 100.000000 meters along route # Maximum depth: 1309.424226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1243.161495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750566; longitude = -122.117222; duration = 215; initialDepth = 1261.944268; finalDepth = 1243.161495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1243.161495 # Seafloor depth: -1293.161495 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.512536 meters # Minimum depth: 1311.944268 meters looking forward 100.000000 meters along route # Maximum depth: 1317.709913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.944268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750196; longitude = -122.118335; duration = 215; initialDepth = 1268.267953; finalDepth = 1261.944268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1261.944268 # Seafloor depth: -1311.944268 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.512954 meters # Minimum depth: 1318.267953 meters looking forward 100.000000 meters along route # Maximum depth: 1319.635394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1268.267953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749825; longitude = -122.119448; duration = 215; initialDepth = 1258.825939; finalDepth = 1268.267953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3674409999999 # Actual altitude: 51.3674409999999 # Commanded vehicle depth: 1268.267953 # Seafloor depth: -1319.635394 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.513375 meters # Minimum depth: 1308.825939 meters looking forward 100.000000 meters along route # Maximum depth: 1314.589445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.825939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749455; longitude = -122.120561; duration = 215; initialDepth = 1254.546124; finalDepth = 1258.825939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.763506 # Actual altitude: 55.763506 # Commanded vehicle depth: 1258.825939 # Seafloor depth: -1314.589445 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.31; 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 26 # Segment length 107.513794 meters # Minimum depth: 1304.546124 meters looking forward 100.000000 meters along route # Maximum depth: 1307.550619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.546124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749085; longitude = -122.121674; duration = 215; initialDepth = 1250.566437; finalDepth = 1254.546124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.763506 # Actual altitude: 55.763506 # Commanded vehicle depth: 1254.546124 # Seafloor depth: -1307.550619 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.31; 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 26 # Segment length 107.514213 meters # Minimum depth: 1300.566437 meters looking forward 100.000000 meters along route # Maximum depth: 1301.617192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.566437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748715; longitude = -122.122787; duration = 215; initialDepth = 1253.410138; finalDepth = 1250.566437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0044950000001 # Actual altitude: 53.0044950000001 # Commanded vehicle depth: 1250.566437 # Seafloor depth: -1301.617192 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.20; 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 26 # Segment length 107.514634 meters # Minimum depth: 1303.410138 meters looking forward 100.000000 meters along route # Maximum depth: 1311.123507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.410138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748344; longitude = -122.123900; duration = 215; initialDepth = 1262.302591; finalDepth = 1253.410138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.050755 # Actual altitude: 51.050755 # Commanded vehicle depth: 1253.410138 # Seafloor depth: -1303.410138 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.515053 meters # Minimum depth: 1312.302591 meters looking forward 100.000000 meters along route # Maximum depth: 1316.898040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.302591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747974; longitude = -122.125013; duration = 215; initialDepth = 1269.907525; finalDepth = 1262.302591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1262.302591 # Seafloor depth: -1312.302591 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.515473 meters # Minimum depth: 1319.907525 meters looking forward 100.000000 meters along route # Maximum depth: 1323.693706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1269.907525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747604; longitude = -122.126126; duration = 215; initialDepth = 1277.841481; finalDepth = 1269.907525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1269.907525 # Seafloor depth: -1319.907525 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.515892 meters # Minimum depth: 1327.841481 meters looking forward 100.000000 meters along route # Maximum depth: 1334.935567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.841481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747233; longitude = -122.127239; duration = 215; initialDepth = 1285.848943; finalDepth = 1277.841481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1277.841481 # Seafloor depth: -1327.841481 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.516312 meters # Minimum depth: 1335.848943 meters looking forward 100.000000 meters along route # Maximum depth: 1336.374546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.848943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746863; longitude = -122.128351; duration = 215; initialDepth = 1285.934558; finalDepth = 1285.848943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1285.848943 # Seafloor depth: -1335.848943 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.516732 meters # Minimum depth: 1335.934558 meters looking forward 100.000000 meters along route # Maximum depth: 1336.483257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.934558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746493; longitude = -122.129464; duration = 215; initialDepth = 1281.619524; finalDepth = 1285.934558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5486990000002 # Actual altitude: 50.5486990000002 # Commanded vehicle depth: 1285.934558 # Seafloor depth: -1336.483257 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.517152 meters # Minimum depth: 1331.619524 meters looking forward 100.000000 meters along route # Maximum depth: 1333.724492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.619524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746123; longitude = -122.130577; duration = 215; initialDepth = 1278.810595; finalDepth = 1281.619524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1049680000001 # Actual altitude: 52.1049680000001 # Commanded vehicle depth: 1281.619524 # Seafloor depth: -1333.724492 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.84; 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 26 # Segment length 107.517572 meters # Minimum depth: 1328.810595 meters looking forward 100.000000 meters along route # Maximum depth: 1331.176146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.810595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745752; longitude = -122.131690; duration = 215; initialDepth = 1273.660546; finalDepth = 1278.810595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3655510000001 # Actual altitude: 52.3655510000001 # Commanded vehicle depth: 1278.810595 # Seafloor depth: -1331.176146 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.517992 meters # Minimum depth: 1323.660546 meters looking forward 100.000000 meters along route # Maximum depth: 1325.995892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.660546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745382; longitude = -122.132803; duration = 215; initialDepth = 1262.788206; finalDepth = 1273.660546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3655510000001 # Actual altitude: 52.3655510000001 # Commanded vehicle depth: 1273.660546 # Seafloor depth: -1325.995892 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 26 # Segment length 107.518411 meters # Minimum depth: 1312.788206 meters looking forward 100.000000 meters along route # Maximum depth: 1320.894246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.788206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745012; longitude = -122.133916; duration = 215; initialDepth = 1244.255845; finalDepth = 1262.788206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1060400000001 # Actual altitude: 58.1060400000001 # Commanded vehicle depth: 1262.788206 # Seafloor depth: -1320.894246 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; 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 26 # Segment length 134.975697 meters # Minimum depth: 1294.255845 meters looking forward 100.000000 meters along route # Maximum depth: 1311.325333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.255845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744641; longitude = -122.135029; duration = 269; initialDepth = 1236.248352; finalDepth = 1244.255845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.0694880000001 # Actual altitude: 67.0694880000001 # Commanded vehicle depth: 1244.255845 # Seafloor depth: -1311.325333 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.83; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 150.000000 meters # Minimum depth: 1286.248352 meters looking forward 100.000000 meters along route # Maximum depth: 1293.113464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.248352 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744177; longitude = -122.136426; duration = 300; # abortOnTimeout = True; initialDepth = 1233.749634; finalDepth = 1236.248352; 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: 67.0694880000001 # Actual altitude: 67.0694880000001 # Commanded vehicle depth: 1236.248352 # Seafloor depth: -1293.113464 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.83; 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 24 # Segment length 187.132035 meters # Minimum depth: 1283.749634 meters looking forward 100.000000 meters along route # Maximum depth: 1311.978605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.749634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742928; longitude = -122.135783; duration = 374; # abortOnTimeout = True; initialDepth = 1262.813211; finalDepth = 1233.749634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.865112 # Actual altitude: 56.865112 # Commanded vehicle depth: 1233.749634 # Seafloor depth: -1283.749634 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.75; 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 24 # Segment length 100.658174 meters # Minimum depth: 1312.813211 meters looking forward 100.000000 meters along route # Maximum depth: 1317.988693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.813211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743571; longitude = -122.133845; duration = 201; initialDepth = 1273.183009; finalDepth = 1262.813211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1262.813211 # Seafloor depth: -1312.813211 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.487122 meters # Minimum depth: 1323.183009 meters looking forward 100.000000 meters along route # Maximum depth: 1327.785570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.183009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743917; longitude = -122.132803; duration = 214; initialDepth = 1282.476871; finalDepth = 1273.183009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1273.183009 # Seafloor depth: -1323.183009 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.486704 meters # Minimum depth: 1332.476871 meters looking forward 100.000000 meters along route # Maximum depth: 1336.358850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.476871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744286; longitude = -122.131690; duration = 214; initialDepth = 1291.333329; finalDepth = 1282.476871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1282.476871 # Seafloor depth: -1332.476871 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.486284 meters # Minimum depth: 1341.333329 meters looking forward 100.000000 meters along route # Maximum depth: 1345.748844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1291.333329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744656; longitude = -122.130577; duration = 214; initialDepth = 1301.025337; finalDepth = 1291.333329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1291.333329 # Seafloor depth: -1341.333329 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.485865 meters # Minimum depth: 1351.025337 meters looking forward 100.000000 meters along route # Maximum depth: 1361.400099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1301.025337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745025; longitude = -122.129464; duration = 214; initialDepth = 1309.341469; finalDepth = 1301.025337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1301.025337 # Seafloor depth: -1351.025337 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.485446 meters # Minimum depth: 1359.341469 meters looking forward 100.000000 meters along route # Maximum depth: 1360.505976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.341469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745395; longitude = -122.128351; duration = 214; initialDepth = 1298.979691; finalDepth = 1309.341469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.164507 # Actual altitude: 51.164507 # Commanded vehicle depth: 1309.341469 # Seafloor depth: -1360.505976 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.47; 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 24 # Segment length 107.485027 meters # Minimum depth: 1348.979691 meters looking forward 100.000000 meters along route # Maximum depth: 1353.383943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.979691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745764; longitude = -122.127239; duration = 214; initialDepth = 1291.561793; finalDepth = 1298.979691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.404252 # Actual altitude: 54.404252 # Commanded vehicle depth: 1298.979691 # Seafloor depth: -1353.383943 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.76; 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 24 # Segment length 107.484608 meters # Minimum depth: 1341.561793 meters looking forward 100.000000 meters along route # Maximum depth: 1345.851949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1291.561793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746134; longitude = -122.126126; duration = 214; initialDepth = 1280.722968; finalDepth = 1291.561793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.404252 # Actual altitude: 54.404252 # Commanded vehicle depth: 1291.561793 # Seafloor depth: -1345.851949 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.76; 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 24 # Segment length 107.484189 meters # Minimum depth: 1330.722968 meters looking forward 100.000000 meters along route # Maximum depth: 1337.356100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1280.722968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746504; longitude = -122.125013; duration = 214; initialDepth = 1271.298633; finalDepth = 1280.722968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6331319999999 # Actual altitude: 56.6331319999999 # Commanded vehicle depth: 1280.722968 # Seafloor depth: -1337.356100 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.65; 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 24 # Segment length 107.483770 meters # Minimum depth: 1321.298633 meters looking forward 100.000000 meters along route # Maximum depth: 1325.490806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.298633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746873; longitude = -122.123900; duration = 214; initialDepth = 1270.512002; finalDepth = 1271.298633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6331319999999 # Actual altitude: 56.6331319999999 # Commanded vehicle depth: 1271.298633 # Seafloor depth: -1325.490806 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.65; 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 24 # Segment length 107.483352 meters # Minimum depth: 1320.512002 meters looking forward 100.000000 meters along route # Maximum depth: 1324.074979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1270.512002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747243; longitude = -122.122787; duration = 214; initialDepth = 1275.398875; finalDepth = 1270.512002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1921729999999 # Actual altitude: 54.1921729999999 # Commanded vehicle depth: 1270.512002 # Seafloor depth: -1320.512002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.68; 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 24 # Segment length 107.482932 meters # Minimum depth: 1325.398875 meters looking forward 100.000000 meters along route # Maximum depth: 1330.475254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.398875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747612; longitude = -122.121674; duration = 214; initialDepth = 1282.723063; finalDepth = 1275.398875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1275.398875 # Seafloor depth: -1325.398875 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.482514 meters # Minimum depth: 1332.723063 meters looking forward 100.000000 meters along route # Maximum depth: 1336.609626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.723063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747982; longitude = -122.120561; duration = 214; initialDepth = 1286.174237; finalDepth = 1282.723063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1282.723063 # Seafloor depth: -1332.723063 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.482095 meters # Minimum depth: 1336.174237 meters looking forward 100.000000 meters along route # Maximum depth: 1339.867832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.174237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748351; longitude = -122.119448; duration = 214; initialDepth = 1273.205446; finalDepth = 1286.174237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.693595 # Actual altitude: 53.693595 # Commanded vehicle depth: 1286.174237 # Seafloor depth: -1339.867832 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 24 # Segment length 107.481676 meters # Minimum depth: 1323.205446 meters looking forward 100.000000 meters along route # Maximum depth: 1331.484976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.205446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748721; longitude = -122.118335; duration = 214; initialDepth = 1255.794856; finalDepth = 1273.205446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.27953 # Actual altitude: 58.27953 # Commanded vehicle depth: 1273.205446 # Seafloor depth: -1331.484976 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 24 # Segment length 107.481258 meters # Minimum depth: 1305.794856 meters looking forward 100.000000 meters along route # Maximum depth: 1315.329959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.794856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749090; longitude = -122.117222; duration = 214; initialDepth = 1229.337047; finalDepth = 1255.794856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5351029999999 # Actual altitude: 59.5351029999999 # Commanded vehicle depth: 1255.794856 # Seafloor depth: -1315.329959 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 24 # Segment length 107.480838 meters # Minimum depth: 1279.337047 meters looking forward 100.000000 meters along route # Maximum depth: 1293.532846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.337047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749460; longitude = -122.116109; duration = 214; initialDepth = 1220.459740; finalDepth = 1229.337047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1957990000001 # Actual altitude: 64.1957990000001 # Commanded vehicle depth: 1229.337047 # Seafloor depth: -1293.532846 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.68; 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 24 # Segment length 107.480420 meters # Minimum depth: 1270.459740 meters looking forward 100.000000 meters along route # Maximum depth: 1273.811389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.459740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749829; longitude = -122.114996; duration = 214; initialDepth = 1216.454275; finalDepth = 1220.459740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1957990000001 # Actual altitude: 64.1957990000001 # Commanded vehicle depth: 1220.45974 # Seafloor depth: -1273.811389 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.68; 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 24 # Segment length 107.480001 meters # Minimum depth: 1266.454275 meters looking forward 100.000000 meters along route # Maximum depth: 1267.351252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.454275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750199; longitude = -122.113883; duration = 214; initialDepth = 1218.843606; finalDepth = 1216.454275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.351649 # Actual altitude: 53.351649 # Commanded vehicle depth: 1216.454275 # Seafloor depth: -1267.351252 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; 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 24 # Segment length 107.479583 meters # Minimum depth: 1268.843606 meters looking forward 100.000000 meters along route # Maximum depth: 1270.816515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.843606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750568; longitude = -122.112770; duration = 214; initialDepth = 1222.879103; finalDepth = 1218.843606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8969769999999 # Actual altitude: 50.8969769999999 # Commanded vehicle depth: 1218.843606 # Seafloor depth: -1268.843606 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.479164 meters # Minimum depth: 1272.879103 meters looking forward 100.000000 meters along route # Maximum depth: 1274.394814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.879103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750938; longitude = -122.111657; duration = 214; initialDepth = 1225.951188; finalDepth = 1222.879103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1222.879103 # Seafloor depth: -1272.879103 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.478745 meters # Minimum depth: 1275.951188 meters looking forward 100.000000 meters along route # Maximum depth: 1281.535012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.951188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751307; longitude = -122.110544; duration = 214; initialDepth = 1234.008713; finalDepth = 1225.951188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1225.951188 # Seafloor depth: -1275.951188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.478326 meters # Minimum depth: 1284.008713 meters looking forward 100.000000 meters along route # Maximum depth: 1294.584512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.008713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751677; longitude = -122.109431; duration = 214; initialDepth = 1249.937084; finalDepth = 1234.008713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1234.008713 # Seafloor depth: -1284.008713 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.477908 meters # Minimum depth: 1299.937084 meters looking forward 100.000000 meters along route # Maximum depth: 1300.326243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.937084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752046; longitude = -122.108319; duration = 214; initialDepth = 1249.784047; finalDepth = 1249.937084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1249.937084 # Seafloor depth: -1299.937084 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 107.477490 meters # Minimum depth: 1299.784047 meters looking forward 100.000000 meters along route # Maximum depth: 1303.503128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.784047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752416; longitude = -122.107206; duration = 214; initialDepth = 1252.255860; finalDepth = 1249.784047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1249.784047 # Seafloor depth: -1299.784047 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 24 # Segment length 125.389875 meters # Minimum depth: 1302.255860 meters looking forward 100.000000 meters along route # Maximum depth: 1304.863339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.255860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752785; longitude = -122.106093; duration = 250; initialDepth = 1250.977539; finalDepth = 1252.255860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.2196289999999 # Actual altitude: 52.2196289999999 # Commanded vehicle depth: 1252.25586 # Seafloor depth: -1304.475489 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 131.134763 meters # Minimum depth: 1300.977539 meters looking forward 100.000000 meters along route # Maximum depth: 1318.881692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.977539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753216; longitude = -122.104794; duration = 262; # abortOnTimeout = True; initialDepth = 1275.776123; finalDepth = 1250.977539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2196289999999 # Actual altitude: 52.2196289999999 # Commanded vehicle depth: 1250.977539 # Seafloor depth: -1300.977539 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 23 # Segment length 131.135172 meters # Minimum depth: 1325.776123 meters looking forward 100.000000 meters along route # Maximum depth: 1338.918979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.776123 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752196; longitude = -122.105536; duration = 262; initialDepth = 1289.674404; finalDepth = 1275.776123; 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: 1275.776123 # Seafloor depth: -1325.776123 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 89.450947 meters # Minimum depth: 1339.674404 meters looking forward 100.000000 meters along route # Maximum depth: 1340.611003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.674404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751176; longitude = -122.106278; duration = 178; # abortOnTimeout = True; initialDepth = 1284.528068; finalDepth = 1289.674404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9365989999999 # Actual altitude: 50.9365989999999 # Commanded vehicle depth: 1289.674404 # Seafloor depth: -1340.611003 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.37; 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 22 # Segment length 107.341517 meters # Minimum depth: 1334.528068 meters looking forward 100.000000 meters along route # Maximum depth: 1336.916758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.528068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750871; longitude = -122.107206; duration = 214; initialDepth = 1278.834592; finalDepth = 1284.528068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.38869 # Actual altitude: 52.38869 # Commanded vehicle depth: 1284.528068 # Seafloor depth: -1336.916758 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 22 # Segment length 107.341932 meters # Minimum depth: 1328.834592 meters looking forward 100.000000 meters along route # Maximum depth: 1330.852596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.834592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750505; longitude = -122.108319; duration = 214; initialDepth = 1278.217034; finalDepth = 1278.834592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.38869 # Actual altitude: 52.38869 # Commanded vehicle depth: 1278.834592 # Seafloor depth: -1330.852596 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 22 # Segment length 107.342348 meters # Minimum depth: 1328.217034 meters looking forward 100.000000 meters along route # Maximum depth: 1329.749950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.217034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750138; longitude = -122.109431; duration = 214; initialDepth = 1261.261443; finalDepth = 1278.217034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.018004 # Actual altitude: 52.018004 # Commanded vehicle depth: 1278.217034 # Seafloor depth: -1329.749950 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.81; 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 22 # Segment length 107.342763 meters # Minimum depth: 1311.261443 meters looking forward 100.000000 meters along route # Maximum depth: 1322.510034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.261443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749772; longitude = -122.110544; duration = 214; initialDepth = 1247.780549; finalDepth = 1261.261443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2485909999998 # Actual altitude: 61.2485909999998 # Commanded vehicle depth: 1261.261443 # Seafloor depth: -1322.510034 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.50; 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 22 # Segment length 107.343178 meters # Minimum depth: 1297.780549 meters looking forward 100.000000 meters along route # Maximum depth: 1305.547739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.780549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749406; longitude = -122.111657; duration = 214; initialDepth = 1244.978437; finalDepth = 1247.780549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2485909999998 # Actual altitude: 61.2485909999998 # Commanded vehicle depth: 1247.780549 # Seafloor depth: -1305.547739 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.50; 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 22 # Segment length 107.343594 meters # Minimum depth: 1294.978437 meters looking forward 100.000000 meters along route # Maximum depth: 1295.279581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.978437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749040; longitude = -122.112770; duration = 214; initialDepth = 1247.621139; finalDepth = 1244.978437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.76719 # Actual altitude: 57.76719 # Commanded vehicle depth: 1244.978437 # Seafloor depth: -1294.978437 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.11; 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 22 # Segment length 107.344009 meters # Minimum depth: 1297.621139 meters looking forward 100.000000 meters along route # Maximum depth: 1298.253487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.621139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748673; longitude = -122.113883; duration = 214; initialDepth = 1249.447675; finalDepth = 1247.621139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1247.621139 # Seafloor depth: -1297.621139 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.344425 meters # Minimum depth: 1299.447675 meters looking forward 100.000000 meters along route # Maximum depth: 1305.925565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.447675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748307; longitude = -122.114996; duration = 214; initialDepth = 1259.165013; finalDepth = 1249.447675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1249.447675 # Seafloor depth: -1299.447675 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.344840 meters # Minimum depth: 1309.165013 meters looking forward 100.000000 meters along route # Maximum depth: 1318.602736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.165013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747941; longitude = -122.116109; duration = 214; initialDepth = 1277.089730; finalDepth = 1259.165013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1259.165013 # Seafloor depth: -1309.165013 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.345255 meters # Minimum depth: 1327.089730 meters looking forward 100.000000 meters along route # Maximum depth: 1336.047647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.089730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747575; longitude = -122.117222; duration = 214; initialDepth = 1295.659877; finalDepth = 1277.089730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1277.08973 # Seafloor depth: -1327.089730 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.345671 meters # Minimum depth: 1345.659877 meters looking forward 100.000000 meters along route # Maximum depth: 1360.018340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.659877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747208; longitude = -122.118335; duration = 214; initialDepth = 1310.253456; finalDepth = 1295.659877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1295.659877 # Seafloor depth: -1345.659877 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.346087 meters # Minimum depth: 1360.253456 meters looking forward 100.000000 meters along route # Maximum depth: 1362.232475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.253456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746842; longitude = -122.119448; duration = 214; initialDepth = 1299.756624; finalDepth = 1310.253456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9790190000001 # Actual altitude: 51.9790190000001 # Commanded vehicle depth: 1310.253456 # Seafloor depth: -1362.232475 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 22 # Segment length 107.346502 meters # Minimum depth: 1349.756624 meters looking forward 100.000000 meters along route # Maximum depth: 1357.239208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.756624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746476; longitude = -122.120561; duration = 214; initialDepth = 1290.433018; finalDepth = 1299.756624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4825839999999 # Actual altitude: 57.4825839999999 # Commanded vehicle depth: 1299.756624 # Seafloor depth: -1357.239208 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.99; 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 22 # Segment length 107.346917 meters # Minimum depth: 1340.433018 meters looking forward 100.000000 meters along route # Maximum depth: 1342.393878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1290.433018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746110; longitude = -122.121674; duration = 214; initialDepth = 1292.695622; finalDepth = 1290.433018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4825839999999 # Actual altitude: 57.4825839999999 # Commanded vehicle depth: 1290.433018 # Seafloor depth: -1342.393878 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.99; 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 22 # Segment length 107.347333 meters # Minimum depth: 1342.695622 meters looking forward 100.000000 meters along route # Maximum depth: 1348.104216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.695622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745743; longitude = -122.122787; duration = 214; initialDepth = 1308.010579; finalDepth = 1292.695622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9608600000001 # Actual altitude: 51.9608600000001 # Commanded vehicle depth: 1292.695622 # Seafloor depth: -1342.695622 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 22 # Segment length 107.347749 meters # Minimum depth: 1358.010579 meters looking forward 100.000000 meters along route # Maximum depth: 1368.409788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.010579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745377; longitude = -122.123900; duration = 214; initialDepth = 1325.456398; finalDepth = 1308.010579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1308.010579 # Seafloor depth: -1358.010579 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.348164 meters # Minimum depth: 1375.456398 meters looking forward 100.000000 meters along route # Maximum depth: 1386.568589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.456398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745011; longitude = -122.125013; duration = 214; initialDepth = 1339.293287; finalDepth = 1325.456398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1325.456398 # Seafloor depth: -1375.456398 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.348580 meters # Minimum depth: 1389.293287 meters looking forward 100.000000 meters along route # Maximum depth: 1411.246406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1339.293287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744645; longitude = -122.126126; duration = 214; initialDepth = 1377.148693; finalDepth = 1339.293287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1339.293287 # Seafloor depth: -1389.293287 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.348996 meters # Minimum depth: 1427.148693 meters looking forward 100.000000 meters along route # Maximum depth: 1428.869069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.148693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744279; longitude = -122.127239; duration = 214; initialDepth = 1309.838769; finalDepth = 1377.148693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.685291 # Actual altitude: 51.685291 # Commanded vehicle depth: 1377.148693 # Seafloor depth: -1428.833984 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 22 # Segment length 107.349411 meters # Minimum depth: 1359.838769 meters looking forward 100.000000 meters along route # Maximum depth: 1410.048923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.838769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743912; longitude = -122.128351; duration = 214; initialDepth = 1295.423036; finalDepth = 1309.838769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.210154 # Actual altitude: 100 # Commanded vehicle depth: 1309.838769 # Seafloor depth: -1410.048923 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 22 # Segment length 107.349827 meters # Minimum depth: 1345.423036 meters looking forward 100.000000 meters along route # Maximum depth: 1356.838920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.423036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743546; longitude = -122.129464; duration = 214; initialDepth = 1281.407056; finalDepth = 1295.423036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.210154 # Actual altitude: 100 # Commanded vehicle depth: 1295.423036 # Seafloor depth: -1356.838920 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 22 # Segment length 107.350243 meters # Minimum depth: 1331.407056 meters looking forward 100.000000 meters along route # Maximum depth: 1337.733189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.407056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743180; longitude = -122.130577; duration = 214; initialDepth = 1262.463018; finalDepth = 1281.407056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.415884 # Actual altitude: 61.415884 # Commanded vehicle depth: 1281.407056 # Seafloor depth: -1337.733189 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.57; 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 22 # Segment length 107.350658 meters # Minimum depth: 1312.463018 meters looking forward 100.000000 meters along route # Maximum depth: 1325.957248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.463018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742814; longitude = -122.131690; duration = 214; initialDepth = 1254.442503; finalDepth = 1262.463018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.49423 # Actual altitude: 63.49423 # Commanded vehicle depth: 1262.463018 # Seafloor depth: -1325.957248 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.40; 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 22 # Segment length 107.351074 meters # Minimum depth: 1304.442503 meters looking forward 100.000000 meters along route # Maximum depth: 1312.039291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.442503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742447; longitude = -122.132803; duration = 214; initialDepth = 1235.258575; finalDepth = 1254.442503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.49423 # Actual altitude: 63.49423 # Commanded vehicle depth: 1254.442503 # Seafloor depth: -1312.039291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.40; 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 22 # Segment length 118.031982 meters # Minimum depth: 1285.258575 meters looking forward 100.000000 meters along route # Maximum depth: 1296.208742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.258575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742081; longitude = -122.133916; duration = 236; initialDepth = 1233.601746; finalDepth = 1235.258575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.950167 # Actual altitude: 60.950167 # Commanded vehicle depth: 1235.258575 # Seafloor depth: -1296.208742 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 150.000000 meters # Minimum depth: 1283.601746 meters looking forward 100.000000 meters along route # Maximum depth: 1289.054849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.601746 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741678; longitude = -122.135140; duration = 300; # abortOnTimeout = True; initialDepth = 1241.912750; finalDepth = 1233.601746; 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: 60.950167 # Actual altitude: 60.950167 # Commanded vehicle depth: 1233.601746 # Seafloor depth: -1283.601746 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 to get to end of line 20 # Segment length 109.949317 meters # Minimum depth: 1291.912750 meters looking forward 100.000000 meters along route # Maximum depth: 1296.388738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.912750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740429; longitude = -122.134497; duration = 219; # abortOnTimeout = True; initialDepth = 1246.708718; finalDepth = 1241.912750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1241.91275 # Seafloor depth: -1291.912750 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.626312 meters # Minimum depth: 1296.708718 meters looking forward 100.000000 meters along route # Maximum depth: 1301.381557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.708718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740810; longitude = -122.133360; duration = 215; initialDepth = 1258.490555; finalDepth = 1246.708718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1246.708718 # Seafloor depth: -1296.708718 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.625890 meters # Minimum depth: 1308.490555 meters looking forward 100.000000 meters along route # Maximum depth: 1315.039847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.490555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741183; longitude = -122.132247; duration = 215; initialDepth = 1273.088778; finalDepth = 1258.490555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1258.490555 # Seafloor depth: -1308.490555 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.625468 meters # Minimum depth: 1323.088778 meters looking forward 100.000000 meters along route # Maximum depth: 1337.598433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.088778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741555; longitude = -122.131134; duration = 215; initialDepth = 1288.799690; finalDepth = 1273.088778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1273.088778 # Seafloor depth: -1323.088778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.625045 meters # Minimum depth: 1338.799690 meters looking forward 100.000000 meters along route # Maximum depth: 1348.028414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1288.799690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741928; longitude = -122.130021; duration = 215; initialDepth = 1315.813941; finalDepth = 1288.799690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1288.79969 # Seafloor depth: -1338.799690 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.624623 meters # Minimum depth: 1365.813941 meters looking forward 100.000000 meters along route # Maximum depth: 1404.755275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1315.813941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742301; longitude = -122.128908; duration = 215; initialDepth = 1366.000126; finalDepth = 1315.813941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1315.813941 # Seafloor depth: -1365.813941 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.624201 meters # Minimum depth: 1431.704291 meters looking forward 100.000000 meters along route # Maximum depth: 1450.630740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.000126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742674; longitude = -122.127795; duration = 215; initialDepth = 1399.275519; finalDepth = 1366.000126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7041650642916 # Actual altitude: 65.7041650642916 # Commanded vehicle depth: 1366.00012593571 # Seafloor depth: -1431.704291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.28; 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 20 # Segment length 107.623779 meters # Minimum depth: 1449.275519 meters looking forward 100.000000 meters along route # Maximum depth: 1451.073144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.275519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743046; longitude = -122.126682; duration = 215; initialDepth = 1393.882509; finalDepth = 1399.275519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7041650642916 # Actual altitude: 65.7041650642916 # Commanded vehicle depth: 1399.275519 # Seafloor depth: -1451.073144 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.28; 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 20 # Segment length 107.623357 meters # Minimum depth: 1443.882509 meters looking forward 100.000000 meters along route # Maximum depth: 1447.319860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.882509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743419; longitude = -122.125569; duration = 215; initialDepth = 1354.184446; finalDepth = 1393.882509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.437351 # Actual altitude: 53.437351 # Commanded vehicle depth: 1393.882509 # Seafloor depth: -1447.319860 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 20 # Segment length 107.622935 meters # Minimum depth: 1404.184446 meters looking forward 100.000000 meters along route # Maximum depth: 1435.578337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.184446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743792; longitude = -122.124456; duration = 215; initialDepth = 1329.002364; finalDepth = 1354.184446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3938909999999 # Actual altitude: 81.3938909999999 # Commanded vehicle depth: 1354.184446 # Seafloor depth: -1435.578337 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.56; 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 20 # Segment length 107.622513 meters # Minimum depth: 1379.002364 meters looking forward 100.000000 meters along route # Maximum depth: 1399.623365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.002364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744164; longitude = -122.123343; duration = 215; initialDepth = 1314.577607; finalDepth = 1329.002364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3938909999999 # Actual altitude: 81.3938909999999 # Commanded vehicle depth: 1329.002364 # Seafloor depth: -1399.623365 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 32.56; 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 20 # Segment length 107.622090 meters # Minimum depth: 1364.577607 meters looking forward 100.000000 meters along route # Maximum depth: 1368.710276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.577607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744537; longitude = -122.122230; duration = 215; initialDepth = 1316.557931; finalDepth = 1314.577607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.621001 # Actual altitude: 70.621001 # Commanded vehicle depth: 1314.577607 # Seafloor depth: -1368.710276 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.25; 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 20 # Segment length 107.621669 meters # Minimum depth: 1366.557931 meters looking forward 100.000000 meters along route # Maximum depth: 1374.331669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.557931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744910; longitude = -122.121117; duration = 215; initialDepth = 1325.979398; finalDepth = 1316.557931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1326690000001 # Actual altitude: 54.1326690000001 # Commanded vehicle depth: 1316.557931 # Seafloor depth: -1366.557931 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 20 # Segment length 107.621247 meters # Minimum depth: 1375.979398 meters looking forward 100.000000 meters along route # Maximum depth: 1377.155928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.979398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745283; longitude = -122.120004; duration = 215; initialDepth = 1313.670350; finalDepth = 1325.979398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1325.979398 # Seafloor depth: -1375.979398 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.620824 meters # Minimum depth: 1363.670350 meters looking forward 100.000000 meters along route # Maximum depth: 1373.823402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.670350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745655; longitude = -122.118891; duration = 215; initialDepth = 1283.991522; finalDepth = 1313.670350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1530519999999 # Actual altitude: 60.1530519999999 # Commanded vehicle depth: 1313.67035 # Seafloor depth: -1373.823402 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 20 # Segment length 107.620403 meters # Minimum depth: 1333.991522 meters looking forward 100.000000 meters along route # Maximum depth: 1350.196047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.991522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746028; longitude = -122.117779; duration = 215; initialDepth = 1278.312876; finalDepth = 1283.991522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2045249999999 # Actual altitude: 66.2045249999999 # Commanded vehicle depth: 1283.991522 # Seafloor depth: -1350.196047 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.48; 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 20 # Segment length 107.619981 meters # Minimum depth: 1328.312876 meters looking forward 100.000000 meters along route # Maximum depth: 1332.128657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.312876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746401; longitude = -122.116666; duration = 215; initialDepth = 1272.662600; finalDepth = 1278.312876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2045249999999 # Actual altitude: 66.2045249999999 # Commanded vehicle depth: 1278.312876 # Seafloor depth: -1332.128657 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.48; 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 20 # Segment length 107.619559 meters # Minimum depth: 1322.662600 meters looking forward 100.000000 meters along route # Maximum depth: 1325.045011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.662600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746773; longitude = -122.115553; duration = 215; initialDepth = 1271.402376; finalDepth = 1272.662600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.815781 # Actual altitude: 53.815781 # Commanded vehicle depth: 1272.6626 # Seafloor depth: -1325.045011 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.53; 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 20 # Segment length 107.619137 meters # Minimum depth: 1321.402376 meters looking forward 100.000000 meters along route # Maximum depth: 1324.079588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.402376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747146; longitude = -122.114440; duration = 215; initialDepth = 1273.565115; finalDepth = 1271.402376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3824109999998 # Actual altitude: 52.3824109999998 # Commanded vehicle depth: 1271.402376 # Seafloor depth: -1321.402376 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 20 # Segment length 107.618715 meters # Minimum depth: 1323.565115 meters looking forward 100.000000 meters along route # Maximum depth: 1327.308859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.565115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747519; longitude = -122.113327; duration = 215; initialDepth = 1282.768114; finalDepth = 1273.565115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1273.565115 # Seafloor depth: -1323.565115 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.618294 meters # Minimum depth: 1332.768114 meters looking forward 100.000000 meters along route # Maximum depth: 1341.769009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.768114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747891; longitude = -122.112214; duration = 215; initialDepth = 1297.873238; finalDepth = 1282.768114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1282.768114 # Seafloor depth: -1332.768114 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.617871 meters # Minimum depth: 1347.873238 meters looking forward 100.000000 meters along route # Maximum depth: 1348.837218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.873238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748264; longitude = -122.111101; duration = 215; initialDepth = 1298.743445; finalDepth = 1297.873238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1297.873238 # Seafloor depth: -1347.873238 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 143.988070 meters # Minimum depth: 1348.743445 meters looking forward 100.000000 meters along route # Maximum depth: 1351.763776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.743445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748637; longitude = -122.109988; duration = 287; initialDepth = 1303.011442; finalDepth = 1298.743445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1298.743445 # Seafloor depth: -1348.743445 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 107.118657 meters # Minimum depth: 1353.011442 meters looking forward 100.000000 meters along route # Maximum depth: 1356.547175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.011442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749136; longitude = -122.108499; duration = 214; initialDepth = 1308.043457; finalDepth = 1303.011442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1303.011442 # Seafloor depth: -1353.011442 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 19 # Segment length 118.090241 meters # Minimum depth: 1358.043457 meters looking forward 100.000000 meters along route # Maximum depth: 1363.524728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.043457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749507; longitude = -122.107391; duration = 236; # abortOnTimeout = True; initialDepth = 1318.239746; finalDepth = 1308.043457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1308.043457 # Seafloor depth: -1358.043457 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 118.090555 meters # Minimum depth: 1368.239746 meters looking forward 100.000000 meters along route # Maximum depth: 1376.269922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.239746 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748579; longitude = -122.108040; duration = 236; initialDepth = 1331.851562; finalDepth = 1318.239746; 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: 1318.239746 # Seafloor depth: -1368.239746 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 179.505228 meters # Minimum depth: 1381.851562 meters looking forward 100.000000 meters along route # Maximum depth: 1391.017182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.851562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747652; longitude = -122.108690; duration = 359; # abortOnTimeout = True; initialDepth = 1340.875971; finalDepth = 1331.851562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1331.851562 # Seafloor depth: -1381.851562 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.703701 meters # Minimum depth: 1390.875971 meters looking forward 100.000000 meters along route # Maximum depth: 1394.642702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1340.875971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747027; longitude = -122.110544; duration = 215; initialDepth = 1338.125488; finalDepth = 1340.875971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7667310000002 # Actual altitude: 53.7667310000002 # Commanded vehicle depth: 1340.875971 # Seafloor depth: -1394.642702 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 18 # Segment length 107.704126 meters # Minimum depth: 1388.125488 meters looking forward 100.000000 meters along route # Maximum depth: 1389.177344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.125488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746653; longitude = -122.111657; duration = 215; initialDepth = 1335.759130; finalDepth = 1338.125488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7667310000002 # Actual altitude: 53.7667310000002 # Commanded vehicle depth: 1338.125488 # Seafloor depth: -1388.125488 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 18 # Segment length 107.704549 meters # Minimum depth: 1385.759130 meters looking forward 100.000000 meters along route # Maximum depth: 1388.338323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.759130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746278; longitude = -122.112770; duration = 215; initialDepth = 1312.431455; finalDepth = 1335.759130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.579193 # Actual altitude: 52.579193 # Commanded vehicle depth: 1335.75913 # Seafloor depth: -1388.338323 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 18 # Segment length 107.704972 meters # Minimum depth: 1362.431455 meters looking forward 100.000000 meters along route # Maximum depth: 1371.869290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1312.431455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745903; longitude = -122.113883; duration = 215; initialDepth = 1300.529365; finalDepth = 1312.431455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4378350000002 # Actual altitude: 59.4378350000002 # Commanded vehicle depth: 1312.431455 # Seafloor depth: -1371.869290 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 18 # Segment length 107.705397 meters # Minimum depth: 1350.529365 meters looking forward 100.000000 meters along route # Maximum depth: 1358.194541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1300.529365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745529; longitude = -122.114996; duration = 215; initialDepth = 1299.676046; finalDepth = 1300.529365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4378350000002 # Actual altitude: 59.4378350000002 # Commanded vehicle depth: 1300.529365 # Seafloor depth: -1358.194541 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 18 # Segment length 107.705821 meters # Minimum depth: 1349.676046 meters looking forward 100.000000 meters along route # Maximum depth: 1353.335252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.676046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745154; longitude = -122.116109; duration = 215; initialDepth = 1310.884502; finalDepth = 1299.676046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.665176 # Actual altitude: 57.665176 # Commanded vehicle depth: 1299.676046 # Seafloor depth: -1349.676046 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.07; 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 18 # Segment length 107.706244 meters # Minimum depth: 1360.884502 meters looking forward 100.000000 meters along route # Maximum depth: 1370.827470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.884502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744779; longitude = -122.117222; duration = 215; initialDepth = 1333.742720; finalDepth = 1310.884502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1310.884502 # Seafloor depth: -1360.884502 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.706668 meters # Minimum depth: 1383.742720 meters looking forward 100.000000 meters along route # Maximum depth: 1402.550731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1333.742720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744405; longitude = -122.118335; duration = 215; initialDepth = 1353.442542; finalDepth = 1333.742720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1333.74272 # Seafloor depth: -1383.742720 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.707093 meters # Minimum depth: 1403.442542 meters looking forward 100.000000 meters along route # Maximum depth: 1406.465296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.442542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744030; longitude = -122.119448; duration = 215; initialDepth = 1353.777337; finalDepth = 1353.442542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0227540000001 # Actual altitude: 53.0227540000001 # Commanded vehicle depth: 1353.442542 # Seafloor depth: -1406.465296 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; 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 18 # Segment length 107.707516 meters # Minimum depth: 1403.777337 meters looking forward 100.000000 meters along route # Maximum depth: 1404.339370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.777337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743655; longitude = -122.120561; duration = 215; initialDepth = 1358.129052; finalDepth = 1353.777337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0227540000001 # Actual altitude: 53.0227540000001 # Commanded vehicle depth: 1353.777337 # Seafloor depth: -1403.777337 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; 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 18 # Segment length 107.707940 meters # Minimum depth: 1408.129052 meters looking forward 100.000000 meters along route # Maximum depth: 1428.153474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.129052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743280; longitude = -122.121674; duration = 215; initialDepth = 1384.081032; finalDepth = 1358.129052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1358.129052 # Seafloor depth: -1408.129052 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.708364 meters # Minimum depth: 1434.081032 meters looking forward 100.000000 meters along route # Maximum depth: 1441.223161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.081032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742906; longitude = -122.122787; duration = 215; initialDepth = 1394.745090; finalDepth = 1384.081032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1384.081032 # Seafloor depth: -1434.081032 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.708788 meters # Minimum depth: 1444.745090 meters looking forward 100.000000 meters along route # Maximum depth: 1447.564939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.745090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742531; longitude = -122.123900; duration = 215; initialDepth = 1398.245313; finalDepth = 1394.745090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.74509 # Seafloor depth: -1444.745090 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.709212 meters # Minimum depth: 1448.245313 meters looking forward 100.000000 meters along route # Maximum depth: 1449.816664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.245313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742156; longitude = -122.125013; duration = 215; initialDepth = 1393.978959; finalDepth = 1398.245313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1398.245313 # Seafloor depth: -1448.245313 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 18 # Segment length 107.709637 meters # Minimum depth: 1443.978959 meters looking forward 100.000000 meters along route # Maximum depth: 1449.828163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.978959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741782; longitude = -122.126126; duration = 215; initialDepth = 1335.860750; finalDepth = 1393.978959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8492039999999 # Actual altitude: 55.8492039999999 # Commanded vehicle depth: 1393.978959 # Seafloor depth: -1449.828163 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.34; 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 18 # Segment length 107.710060 meters # Minimum depth: 1385.860750 meters looking forward 100.000000 meters along route # Maximum depth: 1421.069744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.860750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741407; longitude = -122.127239; duration = 215; initialDepth = 1294.117249; finalDepth = 1335.860750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2089939999998 # Actual altitude: 85.2089939999998 # Commanded vehicle depth: 1335.86075 # Seafloor depth: -1421.069744 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.08; 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 18 # Segment length 107.710484 meters # Minimum depth: 1344.117249 meters looking forward 100.000000 meters along route # Maximum depth: 1361.895295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.117249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741032; longitude = -122.128351; duration = 215; initialDepth = 1280.337272; finalDepth = 1294.117249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2089939999998 # Actual altitude: 85.2089939999998 # Commanded vehicle depth: 1294.117249 # Seafloor depth: -1361.895295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.08; 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 18 # Segment length 107.710909 meters # Minimum depth: 1330.337272 meters looking forward 100.000000 meters along route # Maximum depth: 1337.565842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1280.337272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740658; longitude = -122.129464; duration = 215; initialDepth = 1267.016172; finalDepth = 1280.337272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7780460000001 # Actual altitude: 67.7780460000001 # Commanded vehicle depth: 1280.337272 # Seafloor depth: -1337.565842 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 18 # Segment length 107.711332 meters # Minimum depth: 1317.016172 meters looking forward 100.000000 meters along route # Maximum depth: 1324.100480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1267.016172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740283; longitude = -122.130577; duration = 215; initialDepth = 1258.601673; finalDepth = 1267.016172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.22857 # Actual altitude: 57.22857 # Commanded vehicle depth: 1267.016172 # Seafloor depth: -1324.100480 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.89; 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 18 # Segment length 107.711757 meters # Minimum depth: 1308.601673 meters looking forward 100.000000 meters along route # Maximum depth: 1312.612011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.601673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739908; longitude = -122.131690; duration = 215; initialDepth = 1258.250778; finalDepth = 1258.601673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.084308 # Actual altitude: 57.084308 # Commanded vehicle depth: 1258.601673 # Seafloor depth: -1312.612011 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.83; 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 18 # Segment length 101.646645 meters # Minimum depth: 1308.250778 meters looking forward 100.000000 meters along route # Maximum depth: 1308.254809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1258.250778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739534; longitude = -122.132803; duration = 203; initialDepth = 1257.466309; finalDepth = 1258.250778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.010338 # Actual altitude: 54.010338 # Commanded vehicle depth: 1258.250778 # Seafloor depth: -1308.250778 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 150.000000 meters # Minimum depth: 1307.466309 meters looking forward 100.000000 meters along route # Maximum depth: 1319.547580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1257.466309 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739180; longitude = -122.133854; duration = 300; # abortOnTimeout = True; initialDepth = 1271.216221; finalDepth = 1257.466309; 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: 1257.466309 # Seafloor depth: -1307.466309 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 147.072077 meters # Minimum depth: 1321.216221 meters looking forward 100.000000 meters along route # Maximum depth: 1322.508972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.216221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737931; longitude = -122.133210; duration = 294; # abortOnTimeout = True; initialDepth = 1271.787695; finalDepth = 1271.216221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2927510000002 # Actual altitude: 51.2927510000002 # Commanded vehicle depth: 1271.216221 # Seafloor depth: -1322.508972 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.680412 meters # Minimum depth: 1321.787695 meters looking forward 100.000000 meters along route # Maximum depth: 1322.784740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.787695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738442; longitude = -122.131690; duration = 215; initialDepth = 1276.419605; finalDepth = 1271.787695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2927510000002 # Actual altitude: 51.2927510000002 # Commanded vehicle depth: 1271.787695 # Seafloor depth: -1321.787695 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.679988 meters # Minimum depth: 1326.419605 meters looking forward 100.000000 meters along route # Maximum depth: 1333.714113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.419605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738816; longitude = -122.130577; duration = 215; initialDepth = 1285.700034; finalDepth = 1276.419605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1276.419605 # Seafloor depth: -1326.419605 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.679564 meters # Minimum depth: 1335.700034 meters looking forward 100.000000 meters along route # Maximum depth: 1342.539812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.700034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739190; longitude = -122.129464; duration = 215; initialDepth = 1300.625265; finalDepth = 1285.700034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1285.700034 # Seafloor depth: -1335.700034 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.679142 meters # Minimum depth: 1350.625265 meters looking forward 100.000000 meters along route # Maximum depth: 1359.947109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1300.625265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739564; longitude = -122.128351; duration = 215; initialDepth = 1328.314293; finalDepth = 1300.625265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1300.625265 # Seafloor depth: -1350.625265 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.678718 meters # Minimum depth: 1378.314293 meters looking forward 100.000000 meters along route # Maximum depth: 1419.187307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1328.314293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739937; longitude = -122.127239; duration = 215; initialDepth = 1378.525703; finalDepth = 1328.314293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1328.314293 # Seafloor depth: -1378.314293 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.678295 meters # Minimum depth: 1429.636925 meters looking forward 100.000000 meters along route # Maximum depth: 1443.738430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.525703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740311; longitude = -122.126126; duration = 215; initialDepth = 1397.075494; finalDepth = 1378.525703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1112221520143 # Actual altitude: 51.1112221520143 # Commanded vehicle depth: 1378.52570284799 # Seafloor depth: -1429.636925 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.677871 meters # Minimum depth: 1447.075494 meters looking forward 100.000000 meters along route # Maximum depth: 1447.839518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.075494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740685; longitude = -122.125013; duration = 215; initialDepth = 1390.016838; finalDepth = 1397.075494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1112221520143 # Actual altitude: 51.1112221520143 # Commanded vehicle depth: 1397.075494 # Seafloor depth: -1447.839518 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.677449 meters # Minimum depth: 1440.016838 meters looking forward 100.000000 meters along route # Maximum depth: 1444.955337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.016838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741059; longitude = -122.123900; duration = 215; initialDepth = 1381.376250; finalDepth = 1390.016838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9384990000001 # Actual altitude: 54.9384990000001 # Commanded vehicle depth: 1390.016838 # Seafloor depth: -1444.955337 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.98; 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 16 # Segment length 107.677025 meters # Minimum depth: 1431.376250 meters looking forward 100.000000 meters along route # Maximum depth: 1437.434830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.376250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741433; longitude = -122.122787; duration = 215; initialDepth = 1370.285872; finalDepth = 1381.376250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0585799999999 # Actual altitude: 56.0585799999999 # Commanded vehicle depth: 1381.37625 # Seafloor depth: -1437.434830 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 16 # Segment length 107.676602 meters # Minimum depth: 1420.285872 meters looking forward 100.000000 meters along route # Maximum depth: 1425.171525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.285872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741807; longitude = -122.121674; duration = 215; initialDepth = 1364.070409; finalDepth = 1370.285872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0585799999999 # Actual altitude: 56.0585799999999 # Commanded vehicle depth: 1370.285872 # Seafloor depth: -1425.171525 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 16 # Segment length 107.676179 meters # Minimum depth: 1414.070409 meters looking forward 100.000000 meters along route # Maximum depth: 1416.086105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.070409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742181; longitude = -122.120561; duration = 215; initialDepth = 1363.433627; finalDepth = 1364.070409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.885653 # Actual altitude: 54.885653 # Commanded vehicle depth: 1364.070409 # Seafloor depth: -1416.086105 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.95; 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 16 # Segment length 107.675755 meters # Minimum depth: 1413.433627 meters looking forward 100.000000 meters along route # Maximum depth: 1413.514530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.433627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742555; longitude = -122.119448; duration = 215; initialDepth = 1357.187458; finalDepth = 1363.433627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0156960000002 # Actual altitude: 52.0156960000002 # Commanded vehicle depth: 1363.433627 # Seafloor depth: -1413.433627 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.81; 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 16 # Segment length 107.675333 meters # Minimum depth: 1407.187458 meters looking forward 100.000000 meters along route # Maximum depth: 1412.269199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.187458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742929; longitude = -122.118335; duration = 215; initialDepth = 1341.752901; finalDepth = 1357.187458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.081741 # Actual altitude: 55.081741 # Commanded vehicle depth: 1357.187458 # Seafloor depth: -1412.269199 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.03; 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 16 # Segment length 107.674909 meters # Minimum depth: 1391.752901 meters looking forward 100.000000 meters along route # Maximum depth: 1399.056925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.752901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743303; longitude = -122.117222; duration = 215; initialDepth = 1339.491795; finalDepth = 1341.752901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.304024 # Actual altitude: 57.304024 # Commanded vehicle depth: 1341.752901 # Seafloor depth: -1399.056925 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.92; 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 16 # Segment length 107.674487 meters # Minimum depth: 1389.491795 meters looking forward 100.000000 meters along route # Maximum depth: 1389.583098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1339.491795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743676; longitude = -122.116109; duration = 215; initialDepth = 1344.812242; finalDepth = 1339.491795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.304024 # Actual altitude: 57.304024 # Commanded vehicle depth: 1339.491795 # Seafloor depth: -1389.491795 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.92; 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 16 # Segment length 107.674063 meters # Minimum depth: 1394.812242 meters looking forward 100.000000 meters along route # Maximum depth: 1402.970520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.812242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744050; longitude = -122.114996; duration = 215; initialDepth = 1357.957540; finalDepth = 1344.812242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1344.812242 # Seafloor depth: -1394.812242 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.673640 meters # Minimum depth: 1407.957540 meters looking forward 100.000000 meters along route # Maximum depth: 1410.031265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.957540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744424; longitude = -122.113883; duration = 215; initialDepth = 1360.523744; finalDepth = 1357.957540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1357.95754 # Seafloor depth: -1407.957540 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.673217 meters # Minimum depth: 1410.523744 meters looking forward 100.000000 meters along route # Maximum depth: 1411.617780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.523744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744798; longitude = -122.112770; duration = 215; initialDepth = 1361.368335; finalDepth = 1360.523744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1360.523744 # Seafloor depth: -1410.523744 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 16 # Segment length 107.672794 meters # Minimum depth: 1411.368335 meters looking forward 100.000000 meters along route # Maximum depth: 1411.517746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.368335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745172; longitude = -122.111657; duration = 215; initialDepth = 1359.367005; finalDepth = 1361.368335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1163620000002 # Actual altitude: 50.1163620000002 # Commanded vehicle depth: 1361.368335 # Seafloor depth: -1411.484697 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.05; 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 16 # Segment length 125.617726 meters # Minimum depth: 1409.367005 meters looking forward 100.000000 meters along route # Maximum depth: 1410.878589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.367005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745546; longitude = -122.110544; duration = 251; initialDepth = 1358.973145; finalDepth = 1359.367005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5115839999999 # Actual altitude: 51.5115839999999 # Commanded vehicle depth: 1359.367005 # Seafloor depth: -1410.878589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 168.248756 meters # Minimum depth: 1408.973145 meters looking forward 100.000000 meters along route # Maximum depth: 1412.698541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.973145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745982; longitude = -122.109246; duration = 336; # abortOnTimeout = True; initialDepth = 1363.579803; finalDepth = 1358.973145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5115839999999 # Actual altitude: 51.5115839999999 # Commanded vehicle depth: 1358.973145 # Seafloor depth: -1408.973145 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 15 # Segment length 120.178112 meters # Minimum depth: 1413.579803 meters looking forward 100.000000 meters along route # Maximum depth: 1414.814657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.579803 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744684; longitude = -122.110220; duration = 240; initialDepth = 1365.592684; finalDepth = 1363.579803; 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: 1363.579803 # Seafloor depth: -1413.579803 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 125.114632 meters # Minimum depth: 1415.592684 meters looking forward 100.000000 meters along route # Maximum depth: 1415.725802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.592684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743756; longitude = -122.110915; duration = 250; # abortOnTimeout = True; initialDepth = 1361.781879; finalDepth = 1365.592684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.082772 # Actual altitude: 50.082772 # Commanded vehicle depth: 1365.592684 # Seafloor depth: -1415.675456 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; 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 14 # Segment length 107.241561 meters # Minimum depth: 1411.781879 meters looking forward 100.000000 meters along route # Maximum depth: 1414.889307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.781879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743332; longitude = -122.112214; duration = 214; initialDepth = 1358.104740; finalDepth = 1361.781879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.107428 # Actual altitude: 53.107428 # Commanded vehicle depth: 1361.781879 # Seafloor depth: -1414.889307 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 14 # Segment length 107.241973 meters # Minimum depth: 1408.104740 meters looking forward 100.000000 meters along route # Maximum depth: 1411.172246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.104740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742968; longitude = -122.113327; duration = 214; initialDepth = 1355.122113; finalDepth = 1358.104740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.107428 # Actual altitude: 53.107428 # Commanded vehicle depth: 1358.10474 # Seafloor depth: -1411.172246 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 14 # Segment length 107.242385 meters # Minimum depth: 1405.122113 meters looking forward 100.000000 meters along route # Maximum depth: 1406.037466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.122113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742605; longitude = -122.114440; duration = 214; initialDepth = 1357.553442; finalDepth = 1355.122113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0675060000001 # Actual altitude: 53.0675060000001 # Commanded vehicle depth: 1355.122113 # Seafloor depth: -1406.037466 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 14 # Segment length 107.242799 meters # Minimum depth: 1407.553442 meters looking forward 100.000000 meters along route # Maximum depth: 1415.755743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.553442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742241; longitude = -122.115553; duration = 214; initialDepth = 1365.961074; finalDepth = 1357.553442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9153530000001 # Actual altitude: 50.9153530000001 # Commanded vehicle depth: 1357.553442 # Seafloor depth: -1407.553442 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.37; 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 14 # Segment length 107.243211 meters # Minimum depth: 1415.961074 meters looking forward 100.000000 meters along route # Maximum depth: 1416.744795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.961074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741878; longitude = -122.116666; duration = 214; initialDepth = 1365.778090; finalDepth = 1365.961074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1365.961074 # Seafloor depth: -1415.961074 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 107.243624 meters # Minimum depth: 1415.778090 meters looking forward 100.000000 meters along route # Maximum depth: 1416.498313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.778090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741514; longitude = -122.117779; duration = 214; initialDepth = 1366.439919; finalDepth = 1365.778090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720223 # Actual altitude: 50.720223 # Commanded vehicle depth: 1365.77809 # Seafloor depth: -1416.498313 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.29; 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 14 # Segment length 107.244037 meters # Minimum depth: 1416.439919 meters looking forward 100.000000 meters along route # Maximum depth: 1418.087921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.439919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741150; longitude = -122.118891; duration = 214; initialDepth = 1368.104525; finalDepth = 1366.439919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720223 # Actual altitude: 50.720223 # Commanded vehicle depth: 1366.439919 # Seafloor depth: -1416.439919 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.29; 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 14 # Segment length 107.244449 meters # Minimum depth: 1418.104525 meters looking forward 100.000000 meters along route # Maximum depth: 1420.945969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.104525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740787; longitude = -122.120004; duration = 214; initialDepth = 1374.678633; finalDepth = 1368.104525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1368.104525 # Seafloor depth: -1418.104525 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 107.244863 meters # Minimum depth: 1424.678633 meters looking forward 100.000000 meters along route # Maximum depth: 1428.926187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.678633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740423; longitude = -122.121117; duration = 214; initialDepth = 1381.486741; finalDepth = 1374.678633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1374.678633 # Seafloor depth: -1424.678633 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 113.200178 meters # Minimum depth: 1431.486741 meters looking forward 100.000000 meters along route # Maximum depth: 1437.966182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.486741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740059; longitude = -122.122230; duration = 226; initialDepth = 1388.597862; finalDepth = 1381.486741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1381.486741 # Seafloor depth: -1431.486741 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 101.290785 meters # Minimum depth: 1438.597862 meters looking forward 100.000000 meters along route # Maximum depth: 1443.842428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.597862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739676; longitude = -122.123405; duration = 202; initialDepth = 1391.702833; finalDepth = 1388.597862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.597862 # Seafloor depth: -1438.597862 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 14 # Segment length 107.246101 meters # Minimum depth: 1441.702833 meters looking forward 100.000000 meters along route # Maximum depth: 1445.346345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.702833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739332; longitude = -122.124456; duration = 214; initialDepth = 1360.842203; finalDepth = 1391.702833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6435119999999 # Actual altitude: 53.6435119999999 # Commanded vehicle depth: 1391.702833 # Seafloor depth: -1445.346345 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 14 # Segment length 107.246515 meters # Minimum depth: 1410.842203 meters looking forward 100.000000 meters along route # Maximum depth: 1433.378017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.842203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738968; longitude = -122.125569; duration = 214; initialDepth = 1321.798284; finalDepth = 1360.842203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.5358140000001 # Actual altitude: 72.5358140000001 # Commanded vehicle depth: 1360.842203 # Seafloor depth: -1433.378017 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.01; 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 14 # Segment length 107.246927 meters # Minimum depth: 1371.798284 meters looking forward 100.000000 meters along route # Maximum depth: 1385.792908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.798284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738605; longitude = -122.126682; duration = 214; initialDepth = 1305.174816; finalDepth = 1321.798284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.5358140000001 # Actual altitude: 72.5358140000001 # Commanded vehicle depth: 1321.798284 # Seafloor depth: -1385.792908 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.01; 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 14 # Segment length 107.247340 meters # Minimum depth: 1355.174816 meters looking forward 100.000000 meters along route # Maximum depth: 1363.478719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.174816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738241; longitude = -122.127795; duration = 214; initialDepth = 1296.639441; finalDepth = 1305.174816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9946239999999 # Actual altitude: 63.9946239999999 # Commanded vehicle depth: 1305.174816 # Seafloor depth: -1363.478719 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 14 # Segment length 107.247753 meters # Minimum depth: 1346.639441 meters looking forward 100.000000 meters along route # Maximum depth: 1350.984205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.639441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737878; longitude = -122.128908; duration = 214; initialDepth = 1293.972503; finalDepth = 1296.639441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.303903 # Actual altitude: 58.303903 # Commanded vehicle depth: 1296.639441 # Seafloor depth: -1350.984205 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.32; 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 14 # Segment length 107.248166 meters # Minimum depth: 1343.972503 meters looking forward 100.000000 meters along route # Maximum depth: 1345.225707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.972503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737514; longitude = -122.130021; duration = 214; initialDepth = 1285.806024; finalDepth = 1293.972503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3447639999999 # Actual altitude: 54.3447639999999 # Commanded vehicle depth: 1293.972503 # Seafloor depth: -1345.225707 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.74; 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 14 # Segment length 138.131782 meters # Minimum depth: 1335.806024 meters looking forward 100.000000 meters along route # Maximum depth: 1341.221768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.806024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737150; longitude = -122.131134; duration = 276; initialDepth = 1284.794952; finalDepth = 1285.806024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.4157440000001 # Actual altitude: 55.4157440000001 # Commanded vehicle depth: 1285.806024 # Seafloor depth: -1341.221768 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 150.000000 meters # Minimum depth: 1334.794952 meters looking forward 100.000000 meters along route # Maximum depth: 1345.869365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.794952 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736682; longitude = -122.132567; duration = 300; # abortOnTimeout = True; initialDepth = 1299.690002; finalDepth = 1284.794952; 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: 55.4157440000001 # Actual altitude: 55.4157440000001 # Commanded vehicle depth: 1284.794952 # Seafloor depth: -1334.794952 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 12 # Segment length 76.417653 meters # Minimum depth: 1349.690002 meters looking forward 100.000000 meters along route # Maximum depth: 1352.356126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.690002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735433; longitude = -122.131924; duration = 152; # abortOnTimeout = True; initialDepth = 1305.352360; finalDepth = 1299.690002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1299.690002 # Seafloor depth: -1349.690002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.611741 meters # Minimum depth: 1355.352360 meters looking forward 100.000000 meters along route # Maximum depth: 1358.716492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.352360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735697; longitude = -122.131134; duration = 215; initialDepth = 1311.400877; finalDepth = 1305.352360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1305.35236 # Seafloor depth: -1355.352360 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.611320 meters # Minimum depth: 1361.400877 meters looking forward 100.000000 meters along route # Maximum depth: 1366.783812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.400877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736069; longitude = -122.130021; duration = 215; initialDepth = 1318.555177; finalDepth = 1311.400877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1311.400877 # Seafloor depth: -1361.400877 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.610898 meters # Minimum depth: 1368.555177 meters looking forward 100.000000 meters along route # Maximum depth: 1373.730784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.555177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736442; longitude = -122.128908; duration = 215; initialDepth = 1327.489863; finalDepth = 1318.555177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1318.555177 # Seafloor depth: -1368.555177 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.610476 meters # Minimum depth: 1377.489863 meters looking forward 100.000000 meters along route # Maximum depth: 1383.853974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.489863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736814; longitude = -122.127795; duration = 215; initialDepth = 1338.585056; finalDepth = 1327.489863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1327.489863 # Seafloor depth: -1377.489863 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.610055 meters # Minimum depth: 1388.585056 meters looking forward 100.000000 meters along route # Maximum depth: 1405.174456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.585056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737186; longitude = -122.126682; duration = 215; initialDepth = 1366.167579; finalDepth = 1338.585056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1338.585056 # Seafloor depth: -1388.585056 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.609633 meters # Minimum depth: 1416.167579 meters looking forward 100.000000 meters along route # Maximum depth: 1432.826573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.167579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737558; longitude = -122.125569; duration = 215; initialDepth = 1389.549140; finalDepth = 1366.167579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1366.167579 # Seafloor depth: -1416.167579 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.609211 meters # Minimum depth: 1439.549140 meters looking forward 100.000000 meters along route # Maximum depth: 1440.271677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.549140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737930; longitude = -122.124456; duration = 215; initialDepth = 1378.480881; finalDepth = 1389.549140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7225369999999 # Actual altitude: 50.7225369999999 # Commanded vehicle depth: 1389.54914 # Seafloor depth: -1440.271677 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.29; 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 12 # Segment length 107.608790 meters # Minimum depth: 1428.480881 meters looking forward 100.000000 meters along route # Maximum depth: 1434.610756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.480881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738303; longitude = -122.123343; duration = 215; initialDepth = 1375.012813; finalDepth = 1378.480881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1298750000001 # Actual altitude: 56.1298750000001 # Commanded vehicle depth: 1378.480881 # Seafloor depth: -1434.610756 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 12 # Segment length 107.608369 meters # Minimum depth: 1425.012813 meters looking forward 100.000000 meters along route # Maximum depth: 1426.214066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.012813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738675; longitude = -122.122230; duration = 215; initialDepth = 1372.363919; finalDepth = 1375.012813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1298750000001 # Actual altitude: 56.1298750000001 # Commanded vehicle depth: 1375.012813 # Seafloor depth: -1426.214066 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 12 # Segment length 107.607947 meters # Minimum depth: 1422.363919 meters looking forward 100.000000 meters along route # Maximum depth: 1423.136171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.363919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739047; longitude = -122.121117; duration = 215; initialDepth = 1370.839017; finalDepth = 1372.363919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.201253 # Actual altitude: 51.201253 # Commanded vehicle depth: 1372.363919 # Seafloor depth: -1423.136171 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 107.607526 meters # Minimum depth: 1420.839017 meters looking forward 100.000000 meters along route # Maximum depth: 1421.035792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.839017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739419; longitude = -122.120004; duration = 215; initialDepth = 1370.854927; finalDepth = 1370.839017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7722520000002 # Actual altitude: 50.7722520000002 # Commanded vehicle depth: 1370.839017 # Seafloor depth: -1421.035792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; 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 12 # Segment length 107.607104 meters # Minimum depth: 1420.854927 meters looking forward 100.000000 meters along route # Maximum depth: 1421.626191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.854927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739792; longitude = -122.118891; duration = 215; initialDepth = 1371.223699; finalDepth = 1370.854927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1967749999999 # Actual altitude: 50.1967749999999 # Commanded vehicle depth: 1370.854927 # Seafloor depth: -1420.854927 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 during line 12 # Segment length 107.606683 meters # Minimum depth: 1421.223699 meters looking forward 100.000000 meters along route # Maximum depth: 1421.493202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.223699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740164; longitude = -122.117779; duration = 215; initialDepth = 1371.920244; finalDepth = 1371.223699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2695030000002 # Actual altitude: 50.2695030000002 # Commanded vehicle depth: 1371.223699 # Seafloor depth: -1421.493202 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.11; 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 12 # Segment length 107.606261 meters # Minimum depth: 1421.920244 meters looking forward 100.000000 meters along route # Maximum depth: 1422.562102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.920244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740536; longitude = -122.116666; duration = 215; initialDepth = 1370.614228; finalDepth = 1371.920244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3305440000001 # Actual altitude: 50.3305440000001 # Commanded vehicle depth: 1371.920244 # Seafloor depth: -1422.250788 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 12 # Segment length 107.605840 meters # Minimum depth: 1420.614228 meters looking forward 100.000000 meters along route # Maximum depth: 1420.618973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.614228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740908; longitude = -122.115553; duration = 215; initialDepth = 1368.642286; finalDepth = 1370.614228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3305440000001 # Actual altitude: 50.3305440000001 # Commanded vehicle depth: 1370.614228 # Seafloor depth: -1420.614228 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 12 # Segment length 107.605419 meters # Minimum depth: 1418.642286 meters looking forward 100.000000 meters along route # Maximum depth: 1419.985203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.642286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741280; longitude = -122.114440; duration = 215; initialDepth = 1366.150954; finalDepth = 1368.642286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3429169999999 # Actual altitude: 51.3429169999999 # Commanded vehicle depth: 1368.642286 # Seafloor depth: -1419.985203 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 12 # Segment length 125.539123 meters # Minimum depth: 1416.150954 meters looking forward 100.000000 meters along route # Maximum depth: 1416.923838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.150954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741653; longitude = -122.113327; duration = 251; initialDepth = 1366.659505; finalDepth = 1366.150954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.3429169999999 # Actual altitude: 51.3429169999999 # Commanded vehicle depth: 1366.150954 # Seafloor depth: -1416.923838 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 131.139248 meters # Minimum depth: 1416.659505 meters looking forward 100.000000 meters along route # Maximum depth: 1421.434337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.659505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742087; longitude = -122.112028; duration = 262; # abortOnTimeout = True; initialDepth = 1374.558655; finalDepth = 1366.659505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.772884 # Actual altitude: 50.772884 # Commanded vehicle depth: 1366.659505 # Seafloor depth: -1416.659505 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; 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 11 # Segment length 131.139658 meters # Minimum depth: 1424.558655 meters looking forward 100.000000 meters along route # Maximum depth: 1430.035434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.558655 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741067; longitude = -122.112770; duration = 262; initialDepth = 1378.964385; finalDepth = 1374.558655; 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: 1374.558655 # Seafloor depth: -1424.558655 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 10 # Segment length 89.496239 meters # Minimum depth: 1428.964385 meters looking forward 100.000000 meters along route # Maximum depth: 1430.239421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.964385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740047; longitude = -122.113512; duration = 178; # abortOnTimeout = True; initialDepth = 1377.422231; finalDepth = 1378.964385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.275036 # Actual altitude: 51.275036 # Commanded vehicle depth: 1378.964385 # Seafloor depth: -1430.239421 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.51; 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 10 # Segment length 107.395869 meters # Minimum depth: 1427.422231 meters looking forward 100.000000 meters along route # Maximum depth: 1428.431236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.422231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739741; longitude = -122.114440; duration = 214; initialDepth = 1377.759055; finalDepth = 1377.422231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.275036 # Actual altitude: 51.275036 # Commanded vehicle depth: 1377.422231 # Seafloor depth: -1428.431236 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.51; 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 10 # Segment length 107.396285 meters # Minimum depth: 1427.759055 meters looking forward 100.000000 meters along route # Maximum depth: 1429.165922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.759055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739373; longitude = -122.115553; duration = 214; initialDepth = 1379.185602; finalDepth = 1377.759055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0090049999999 # Actual altitude: 51.0090049999999 # Commanded vehicle depth: 1377.759055 # Seafloor depth: -1427.759055 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.40; 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 10 # Segment length 107.396701 meters # Minimum depth: 1429.185602 meters looking forward 100.000000 meters along route # Maximum depth: 1429.776212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.185602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739006; longitude = -122.116666; duration = 214; initialDepth = 1377.104748; finalDepth = 1379.185602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.59061 # Actual altitude: 50.59061 # Commanded vehicle depth: 1379.185602 # Seafloor depth: -1429.776212 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.24; 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 10 # Segment length 107.397118 meters # Minimum depth: 1427.104748 meters looking forward 100.000000 meters along route # Maximum depth: 1427.854586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.104748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738639; longitude = -122.117779; duration = 214; initialDepth = 1374.808718; finalDepth = 1377.104748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.749838 # Actual altitude: 50.749838 # Commanded vehicle depth: 1377.104748 # Seafloor depth: -1427.854586 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.30; 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 10 # Segment length 107.397534 meters # Minimum depth: 1424.808718 meters looking forward 100.000000 meters along route # Maximum depth: 1426.230984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.808718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738272; longitude = -122.118891; duration = 214; initialDepth = 1372.553522; finalDepth = 1374.808718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.422266 # Actual altitude: 51.422266 # Commanded vehicle depth: 1374.808718 # Seafloor depth: -1426.230984 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 10 # Segment length 107.397951 meters # Minimum depth: 1422.553522 meters looking forward 100.000000 meters along route # Maximum depth: 1423.384924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.553522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737904; longitude = -122.120004; duration = 214; initialDepth = 1371.706068; finalDepth = 1372.553522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.422266 # Actual altitude: 51.422266 # Commanded vehicle depth: 1372.553522 # Seafloor depth: -1423.384924 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 10 # Segment length 107.398367 meters # Minimum depth: 1421.706068 meters looking forward 100.000000 meters along route # Maximum depth: 1422.114683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.706068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737537; longitude = -122.121117; duration = 214; initialDepth = 1371.969450; finalDepth = 1371.706068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.831402 # Actual altitude: 50.831402 # Commanded vehicle depth: 1371.706068 # Seafloor depth: -1422.114683 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.33; 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 10 # Segment length 107.398783 meters # Minimum depth: 1421.969450 meters looking forward 100.000000 meters along route # Maximum depth: 1426.460729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.969450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737170; longitude = -122.122230; duration = 214; initialDepth = 1378.470198; finalDepth = 1371.969450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4086150000001 # Actual altitude: 50.4086150000001 # Commanded vehicle depth: 1371.96945 # Seafloor depth: -1421.969450 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 10 # Segment length 107.399200 meters # Minimum depth: 1428.470198 meters looking forward 100.000000 meters along route # Maximum depth: 1432.812450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.470198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736803; longitude = -122.123343; duration = 214; initialDepth = 1385.350762; finalDepth = 1378.470198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1378.470198 # Seafloor depth: -1428.470198 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 10 # Segment length 107.399617 meters # Minimum depth: 1435.350762 meters looking forward 100.000000 meters along route # Maximum depth: 1435.617656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.350762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736436; longitude = -122.124456; duration = 214; initialDepth = 1357.518405; finalDepth = 1385.350762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2668939999999 # Actual altitude: 50.2668939999999 # Commanded vehicle depth: 1385.350762 # Seafloor depth: -1435.617656 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.11; 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 10 # Segment length 107.400033 meters # Minimum depth: 1407.518405 meters looking forward 100.000000 meters along route # Maximum depth: 1423.998095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.518405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736068; longitude = -122.125569; duration = 214; initialDepth = 1348.006981; finalDepth = 1357.518405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4796899999999 # Actual altitude: 66.4796899999999 # Commanded vehicle depth: 1357.518405 # Seafloor depth: -1423.998095 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.59; 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 10 # Segment length 107.400449 meters # Minimum depth: 1398.006981 meters looking forward 100.000000 meters along route # Maximum depth: 1404.658703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.006981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735701; longitude = -122.126682; duration = 214; initialDepth = 1342.008126; finalDepth = 1348.006981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4796899999999 # Actual altitude: 66.4796899999999 # Commanded vehicle depth: 1348.006981 # Seafloor depth: -1404.658703 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.59; 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 10 # Segment length 107.400867 meters # Minimum depth: 1392.008126 meters looking forward 100.000000 meters along route # Maximum depth: 1393.991900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1342.008126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735334; longitude = -122.127795; duration = 214; initialDepth = 1328.963509; finalDepth = 1342.008126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6517220000001 # Actual altitude: 56.6517220000001 # Commanded vehicle depth: 1342.008126 # Seafloor depth: -1393.991900 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 10 # Segment length 107.401282 meters # Minimum depth: 1378.963509 meters looking forward 100.000000 meters along route # Maximum depth: 1386.870996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1328.963509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734967; longitude = -122.128908; duration = 214; initialDepth = 1323.121205; finalDepth = 1328.963509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9074870000002 # Actual altitude: 57.9074870000002 # Commanded vehicle depth: 1328.963509 # Seafloor depth: -1386.870996 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.16; 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 10 # Segment length 121.611274 meters # Minimum depth: 1373.121205 meters looking forward 100.000000 meters along route # Maximum depth: 1377.793470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.121205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734600; longitude = -122.130021; duration = 243; initialDepth = 1317.082672; finalDepth = 1323.121205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.9074870000002 # Actual altitude: 57.9074870000002 # Commanded vehicle depth: 1323.121205 # Seafloor depth: -1377.793470 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.16; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 150.000000 meters # Minimum depth: 1367.082672 meters looking forward 100.000000 meters along route # Maximum depth: 1382.739302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.082672 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734184; longitude = -122.131281; duration = 300; # abortOnTimeout = True; initialDepth = 1329.522003; finalDepth = 1317.082672; 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: 54.6722650000002 # Actual altitude: 54.6722650000002 # Commanded vehicle depth: 1317.082672 # Seafloor depth: -1367.082672 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 to get to end of line 8 # Segment length 166.851064 meters # Minimum depth: 1379.522003 meters looking forward 100.000000 meters along route # Maximum depth: 1390.324978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.522003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732935; longitude = -122.130638; duration = 333; # abortOnTimeout = True; initialDepth = 1344.885464; finalDepth = 1329.522003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1329.522003 # Seafloor depth: -1379.522003 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.333522 meters # Minimum depth: 1394.885464 meters looking forward 100.000000 meters along route # Maximum depth: 1397.264552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.885464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733503; longitude = -122.128908; duration = 214; initialDepth = 1348.707133; finalDepth = 1344.885464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1344.885464 # Seafloor depth: -1394.885464 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.333106 meters # Minimum depth: 1398.707133 meters looking forward 100.000000 meters along route # Maximum depth: 1405.768383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.707133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733868; longitude = -122.127795; duration = 214; initialDepth = 1360.519040; finalDepth = 1348.707133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1348.707133 # Seafloor depth: -1398.707133 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.332692 meters # Minimum depth: 1410.519040 meters looking forward 100.000000 meters along route # Maximum depth: 1416.460974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.519040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734234; longitude = -122.126682; duration = 214; initialDepth = 1370.979914; finalDepth = 1360.519040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1360.51904 # Seafloor depth: -1410.519040 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.332277 meters # Minimum depth: 1420.979914 meters looking forward 100.000000 meters along route # Maximum depth: 1425.994938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.979914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734600; longitude = -122.125569; duration = 214; initialDepth = 1375.224554; finalDepth = 1370.979914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1370.979914 # Seafloor depth: -1420.979914 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.331863 meters # Minimum depth: 1425.224554 meters looking forward 100.000000 meters along route # Maximum depth: 1428.139221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.224554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734965; longitude = -122.124456; duration = 214; initialDepth = 1371.750168; finalDepth = 1375.224554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.914667 # Actual altitude: 52.914667 # Commanded vehicle depth: 1375.224554 # Seafloor depth: -1428.139221 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.17; 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 8 # Segment length 107.331447 meters # Minimum depth: 1421.750168 meters looking forward 100.000000 meters along route # Maximum depth: 1423.640543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.750168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735331; longitude = -122.123343; duration = 214; initialDepth = 1371.041252; finalDepth = 1371.750168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.914667 # Actual altitude: 52.914667 # Commanded vehicle depth: 1371.750168 # Seafloor depth: -1423.640543 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.17; 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 8 # Segment length 107.331033 meters # Minimum depth: 1421.041252 meters looking forward 100.000000 meters along route # Maximum depth: 1422.120408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.041252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735696; longitude = -122.122230; duration = 214; initialDepth = 1374.311410; finalDepth = 1371.041252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8903749999999 # Actual altitude: 51.8903749999999 # Commanded vehicle depth: 1371.041252 # Seafloor depth: -1421.041252 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.330618 meters # Minimum depth: 1424.311410 meters looking forward 100.000000 meters along route # Maximum depth: 1427.642470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.311410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736062; longitude = -122.121117; duration = 214; initialDepth = 1378.820439; finalDepth = 1374.311410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1374.31141 # Seafloor depth: -1424.311410 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.330203 meters # Minimum depth: 1428.820439 meters looking forward 100.000000 meters along route # Maximum depth: 1431.726502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.820439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736427; longitude = -122.120004; duration = 214; initialDepth = 1383.779894; finalDepth = 1378.820439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1378.820439 # Seafloor depth: -1428.820439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.329789 meters # Minimum depth: 1433.779894 meters looking forward 100.000000 meters along route # Maximum depth: 1436.165823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.779894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736793; longitude = -122.118891; duration = 214; initialDepth = 1386.681876; finalDepth = 1383.779894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1383.779894 # Seafloor depth: -1433.779894 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 107.329373 meters # Minimum depth: 1436.681876 meters looking forward 100.000000 meters along route # Maximum depth: 1437.372373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.681876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737159; longitude = -122.117779; duration = 214; initialDepth = 1385.589060; finalDepth = 1386.681876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.681876 # Seafloor depth: -1436.681876 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 141.517113 meters # Minimum depth: 1435.589060 meters looking forward 100.000000 meters along route # Maximum depth: 1437.041439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.589060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737524; longitude = -122.116666; duration = 283; initialDepth = 1384.967853; finalDepth = 1385.589060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4523790000001 # Actual altitude: 51.4523790000001 # Commanded vehicle depth: 1385.58906 # Seafloor depth: -1437.041439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 8 # Segment length 108.916480 meters # Minimum depth: 1434.967853 meters looking forward 100.000000 meters along route # Maximum depth: 1435.495644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.967853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738006; longitude = -122.115198; duration = 217; initialDepth = 1385.264811; finalDepth = 1384.967853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.4523790000001 # Actual altitude: 51.4523790000001 # Commanded vehicle depth: 1384.967853 # Seafloor depth: -1435.495644 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 118.094046 meters # Minimum depth: 1435.264811 meters looking forward 100.000000 meters along route # Maximum depth: 1437.514910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.264811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738377; longitude = -122.114069; duration = 236; # abortOnTimeout = True; initialDepth = 1389.623108; finalDepth = 1385.264811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.527791 # Actual altitude: 50.527791 # Commanded vehicle depth: 1385.264811 # Seafloor depth: -1435.264811 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.21; 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 7 # Segment length 118.094360 meters # Minimum depth: 1439.623108 meters looking forward 100.000000 meters along route # Maximum depth: 1442.929297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.623108 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737450; longitude = -122.114718; duration = 236; initialDepth = 1394.616536; finalDepth = 1389.623108; 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: 1389.623108 # Seafloor depth: -1439.623108 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 6 # Segment length 125.338309 meters # Minimum depth: 1444.616536 meters looking forward 100.000000 meters along route # Maximum depth: 1445.145737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.616536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736522; longitude = -122.115367; duration = 250; # abortOnTimeout = True; initialDepth = 1394.404466; finalDepth = 1394.616536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.616536 # Seafloor depth: -1444.616536 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 6 # Segment length 107.433288 meters # Minimum depth: 1444.404466 meters looking forward 100.000000 meters along route # Maximum depth: 1444.901699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.404466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736093; longitude = -122.116666; duration = 214; initialDepth = 1392.956070; finalDepth = 1394.404466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4972330000001 # Actual altitude: 50.4972330000001 # Commanded vehicle depth: 1394.404466 # Seafloor depth: -1444.901699 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.20; 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 6 # Segment length 107.433705 meters # Minimum depth: 1442.956070 meters looking forward 100.000000 meters along route # Maximum depth: 1444.311531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.956070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735725; longitude = -122.117779; duration = 214; initialDepth = 1388.966676; finalDepth = 1392.956070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3554610000001 # Actual altitude: 51.3554610000001 # Commanded vehicle depth: 1392.95607 # Seafloor depth: -1444.311531 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 6 # Segment length 107.434123 meters # Minimum depth: 1438.966676 meters looking forward 100.000000 meters along route # Maximum depth: 1441.066418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.966676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735357; longitude = -122.118891; duration = 214; initialDepth = 1381.119071; finalDepth = 1388.966676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0997420000001 # Actual altitude: 52.0997420000001 # Commanded vehicle depth: 1388.966676 # Seafloor depth: -1441.066418 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.84; 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 6 # Segment length 107.434539 meters # Minimum depth: 1431.119071 meters looking forward 100.000000 meters along route # Maximum depth: 1435.962077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.119071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734989; longitude = -122.120004; duration = 214; initialDepth = 1376.956042; finalDepth = 1381.119071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8430059999998 # Actual altitude: 54.8430059999998 # Commanded vehicle depth: 1381.119071 # Seafloor depth: -1435.962077 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.94; 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 6 # Segment length 107.434957 meters # Minimum depth: 1426.956042 meters looking forward 100.000000 meters along route # Maximum depth: 1430.419983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.956042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734621; longitude = -122.121117; duration = 214; initialDepth = 1372.972484; finalDepth = 1376.956042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8430059999998 # Actual altitude: 54.8430059999998 # Commanded vehicle depth: 1376.956042 # Seafloor depth: -1430.419983 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.94; 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 6 # Segment length 107.435373 meters # Minimum depth: 1422.972484 meters looking forward 100.000000 meters along route # Maximum depth: 1424.941997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.972484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734253; longitude = -122.122230; duration = 214; initialDepth = 1368.422816; finalDepth = 1372.972484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.463941 # Actual altitude: 53.463941 # Commanded vehicle depth: 1372.972484 # Seafloor depth: -1424.941997 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; 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 6 # Segment length 107.435792 meters # Minimum depth: 1418.422816 meters looking forward 100.000000 meters along route # Maximum depth: 1420.796569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.422816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733885; longitude = -122.123343; duration = 214; initialDepth = 1366.413937; finalDepth = 1368.422816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3737530000001 # Actual altitude: 52.3737530000001 # Commanded vehicle depth: 1368.422816 # Seafloor depth: -1420.796569 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 6 # Segment length 107.436208 meters # Minimum depth: 1416.413937 meters looking forward 100.000000 meters along route # Maximum depth: 1418.215067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.413937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733517; longitude = -122.124456; duration = 214; initialDepth = 1360.178291; finalDepth = 1366.413937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3737530000001 # Actual altitude: 52.3737530000001 # Commanded vehicle depth: 1366.413937 # Seafloor depth: -1418.215067 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 6 # Segment length 107.436626 meters # Minimum depth: 1410.178291 meters looking forward 100.000000 meters along route # Maximum depth: 1413.994651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.178291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733149; longitude = -122.125569; duration = 214; initialDepth = 1353.106730; finalDepth = 1360.178291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.81636 # Actual altitude: 53.81636 # Commanded vehicle depth: 1360.178291 # Seafloor depth: -1413.994651 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.53; 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 6 # Segment length 107.437042 meters # Minimum depth: 1403.106730 meters looking forward 100.000000 meters along route # Maximum depth: 1407.702402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.106730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732781; longitude = -122.126682; duration = 214; initialDepth = 1349.918839; finalDepth = 1353.106730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5956719999999 # Actual altitude: 54.5956719999999 # Commanded vehicle depth: 1353.10673 # Seafloor depth: -1407.702402 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; 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 6 # Segment length 107.437461 meters # Minimum depth: 1399.918839 meters looking forward 100.000000 meters along route # Maximum depth: 1402.785525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1349.918839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732413; longitude = -122.127795; duration = 214; initialDepth = 1344.686559; finalDepth = 1349.918839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5956719999999 # Actual altitude: 54.5956719999999 # Commanded vehicle depth: 1349.918839 # Seafloor depth: -1402.785525 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; 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 6 # Segment length 104.936811 meters # Minimum depth: 1394.686559 meters looking forward 100.000000 meters along route # Maximum depth: 1396.753348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.686559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732045; longitude = -122.128908; duration = 209; initialDepth = 1343.557037; finalDepth = 1344.686559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8666860000001 # Actual altitude: 52.8666860000001 # Commanded vehicle depth: 1344.686559 # Seafloor depth: -1396.753348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 150.000000 meters # Minimum depth: 1393.557037 meters looking forward 100.000000 meters along route # Maximum depth: 1399.849739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.557037 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731685; longitude = -122.129995; duration = 300; # abortOnTimeout = True; initialDepth = 1351.904968; finalDepth = 1343.557037; 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: 52.066789 # Actual altitude: 52.066789 # Commanded vehicle depth: 1343.557037 # Seafloor depth: -1393.557037 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 149.722824 meters # Minimum depth: 1401.904968 meters looking forward 100.000000 meters along route # Maximum depth: 1407.338295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.904968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730436; longitude = -122.129352; duration = 299; # abortOnTimeout = True; initialDepth = 1361.475262; finalDepth = 1351.904968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1351.904968 # Seafloor depth: -1401.904968 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.024080 meters # Minimum depth: 1411.475262 meters looking forward 100.000000 meters along route # Maximum depth: 1412.874310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.475262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730937; longitude = -122.127795; duration = 214; initialDepth = 1364.774867; finalDepth = 1361.475262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1361.475262 # Seafloor depth: -1411.475262 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.023672 meters # Minimum depth: 1414.774867 meters looking forward 100.000000 meters along route # Maximum depth: 1415.645718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.774867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731295; longitude = -122.126682; duration = 214; initialDepth = 1368.232875; finalDepth = 1364.774867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1364.774867 # Seafloor depth: -1414.774867 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.023265 meters # Minimum depth: 1418.232875 meters looking forward 100.000000 meters along route # Maximum depth: 1420.387208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.232875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731653; longitude = -122.125569; duration = 214; initialDepth = 1371.264046; finalDepth = 1368.232875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1368.232875 # Seafloor depth: -1418.232875 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.022858 meters # Minimum depth: 1421.264046 meters looking forward 100.000000 meters along route # Maximum depth: 1422.993632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.264046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732011; longitude = -122.124456; duration = 214; initialDepth = 1374.515653; finalDepth = 1371.264046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1371.264046 # Seafloor depth: -1421.264046 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.022451 meters # Minimum depth: 1424.515653 meters looking forward 100.000000 meters along route # Maximum depth: 1429.269701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.515653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732369; longitude = -122.123343; duration = 214; initialDepth = 1382.213846; finalDepth = 1374.515653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1374.515653 # Seafloor depth: -1424.515653 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.022044 meters # Minimum depth: 1432.213846 meters looking forward 100.000000 meters along route # Maximum depth: 1436.379540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.213846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732727; longitude = -122.122230; duration = 214; initialDepth = 1388.032983; finalDepth = 1382.213846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.213846 # Seafloor depth: -1432.213846 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.021637 meters # Minimum depth: 1438.032983 meters looking forward 100.000000 meters along route # Maximum depth: 1441.103277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.032983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733085; longitude = -122.121117; duration = 214; initialDepth = 1394.026934; finalDepth = 1388.032983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.032983 # Seafloor depth: -1438.032983 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.021229 meters # Minimum depth: 1444.026934 meters looking forward 100.000000 meters along route # Maximum depth: 1446.333860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.026934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733444; longitude = -122.120004; duration = 214; initialDepth = 1397.868812; finalDepth = 1394.026934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.026934 # Seafloor depth: -1444.026934 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.020823 meters # Minimum depth: 1447.868812 meters looking forward 100.000000 meters along route # Maximum depth: 1449.630416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.868812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733802; longitude = -122.118891; duration = 214; initialDepth = 1399.724090; finalDepth = 1397.868812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1397.868812 # Seafloor depth: -1447.868812 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.020415 meters # Minimum depth: 1449.724090 meters looking forward 100.000000 meters along route # Maximum depth: 1450.694852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.724090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734160; longitude = -122.117779; duration = 214; initialDepth = 1401.439201; finalDepth = 1399.724090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1399.72409 # Seafloor depth: -1449.724090 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.020008 meters # Minimum depth: 1451.439201 meters looking forward 100.000000 meters along route # Maximum depth: 1451.751320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.439201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734518; longitude = -122.116666; duration = 214; initialDepth = 1402.503930; finalDepth = 1401.439201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1401.439201 # Seafloor depth: -1451.439201 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.019602 meters # Minimum depth: 1452.503930 meters looking forward 100.000000 meters along route # Maximum depth: 1452.738805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.503930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734876; longitude = -122.115553; duration = 214; initialDepth = 1402.672863; finalDepth = 1402.503930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1402.50393 # Seafloor depth: -1452.503930 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.019194 meters # Minimum depth: 1452.672863 meters looking forward 100.000000 meters along route # Maximum depth: 1453.118888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.672863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735234; longitude = -122.114440; duration = 214; initialDepth = 1402.223513; finalDepth = 1402.672863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1402.672863 # Seafloor depth: -1452.672863 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.018788 meters # Minimum depth: 1452.223513 meters looking forward 100.000000 meters along route # Maximum depth: 1453.001002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.223513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735592; longitude = -122.113327; duration = 214; initialDepth = 1401.069198; finalDepth = 1402.223513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7774890000001 # Actual altitude: 50.7774890000001 # Commanded vehicle depth: 1402.223513 # Seafloor depth: -1453.001002 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; 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 4 # Segment length 107.018380 meters # Minimum depth: 1451.069198 meters looking forward 100.000000 meters along route # Maximum depth: 1451.221303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.069198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735950; longitude = -122.112214; duration = 214; initialDepth = 1400.642839; finalDepth = 1401.069198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7774890000001 # Actual altitude: 50.7774890000001 # Commanded vehicle depth: 1401.069198 # Seafloor depth: -1451.069198 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; 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 4 # Segment length 107.017974 meters # Minimum depth: 1450.642839 meters looking forward 100.000000 meters along route # Maximum depth: 1451.391406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.642839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736308; longitude = -122.111101; duration = 214; initialDepth = 1398.719352; finalDepth = 1400.642839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7485669999999 # Actual altitude: 50.7485669999999 # Commanded vehicle depth: 1400.642839 # Seafloor depth: -1451.391406 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.30; 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 4 # Segment length 107.017566 meters # Minimum depth: 1448.719352 meters looking forward 100.000000 meters along route # Maximum depth: 1449.763555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.719352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736666; longitude = -122.109988; duration = 214; initialDepth = 1397.221665; finalDepth = 1398.719352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0442029999999 # Actual altitude: 51.0442029999999 # Commanded vehicle depth: 1398.719352 # Seafloor depth: -1449.763555 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.017160 meters # Minimum depth: 1447.221665 meters looking forward 100.000000 meters along route # Maximum depth: 1448.151300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.221665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737024; longitude = -122.108875; duration = 214; initialDepth = 1394.317017; finalDepth = 1397.221665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0442029999999 # Actual altitude: 51.0442029999999 # Commanded vehicle depth: 1397.221665 # Seafloor depth: -1448.151300 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 4 # Segment length 107.016753 meters # Minimum depth: 1444.317017 meters looking forward 100.000000 meters along route # Maximum depth: 1446.758166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.317017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737382; longitude = -122.107762; duration = 214; initialDepth = 1391.198281; finalDepth = 1394.317017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.441149 # Actual altitude: 52.441149 # Commanded vehicle depth: 1394.317017 # Seafloor depth: -1446.758166 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.98; 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 4 # Segment length 107.016346 meters # Minimum depth: 1441.198281 meters looking forward 100.000000 meters along route # Maximum depth: 1443.762693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.198281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737740; longitude = -122.106649; duration = 214; initialDepth = 1382.573963; finalDepth = 1391.198281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5644119999999 # Actual altitude: 52.5644119999999 # Commanded vehicle depth: 1391.198281 # Seafloor depth: -1443.762693 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 during line 4 # Segment length 138.822729 meters # Minimum depth: 1432.573963 meters looking forward 100.000000 meters along route # Maximum depth: 1439.578967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.573963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738098; longitude = -122.105536; duration = 277; initialDepth = 1375.871564; finalDepth = 1382.573963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0050039999999 # Actual altitude: 57.0050039999999 # Commanded vehicle depth: 1382.573963 # Seafloor depth: -1439.578967 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.880497 meters # Minimum depth: 1425.871564 meters looking forward 100.000000 meters along route # Maximum depth: 1430.644337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.871564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738563; longitude = -122.104092; duration = 221; initialDepth = 1370.799154; finalDepth = 1375.871564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.0050039999999 # Actual altitude: 57.0050039999999 # Commanded vehicle depth: 1375.871564 # Seafloor depth: -1430.644337 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_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 3 # Segment length 152.176365 meters # Minimum depth: 1420.799154 meters looking forward 100.000000 meters along route # Maximum depth: 1428.606790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.799154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738934; longitude = -122.102939; duration = 304; # abortOnTimeout = True; initialDepth = 1378.896447; finalDepth = 1370.799154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7727729999999 # Actual altitude: 54.7727729999999 # Commanded vehicle depth: 1370.799154 # Seafloor depth: -1420.799154 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 3 # Segment length 130.436683 meters # Minimum depth: 1428.896447 meters looking forward 100.000000 meters along route # Maximum depth: 1431.920812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.896447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740232; longitude = -122.103489; duration = 260; initialDepth = 1382.818282; finalDepth = 1378.896447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1378.896447 # Seafloor depth: -1428.896447 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 3 # Segment length 130.436499 meters # Minimum depth: 1432.818282 meters looking forward 100.000000 meters along route # Maximum depth: 1436.957343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.818282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741345; longitude = -122.103960; duration = 260; initialDepth = 1386.996507; finalDepth = 1382.818282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.818282 # Seafloor depth: -1432.818282 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 3 # Segment length 151.800864 meters # Minimum depth: 1436.996507 meters looking forward 100.000000 meters along route # Maximum depth: 1437.716685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.996507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742458; longitude = -122.104431; duration = 303; initialDepth = 1386.617672; finalDepth = 1386.996507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.996507 # Seafloor depth: -1436.996507 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 3 # Segment length 109.071577 meters # Minimum depth: 1436.617672 meters looking forward 100.000000 meters along route # Maximum depth: 1437.586988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.617672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743753; longitude = -122.104980; duration = 218; initialDepth = 1379.874238; finalDepth = 1386.617672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9693159999999 # Actual altitude: 50.9693159999999 # Commanded vehicle depth: 1386.617672 # Seafloor depth: -1437.586988 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; 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 3 # Segment length 130.435944 meters # Minimum depth: 1429.874238 meters looking forward 100.000000 meters along route # Maximum depth: 1434.053017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.874238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744684; longitude = -122.105374; duration = 260; initialDepth = 1373.098511; finalDepth = 1379.874238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1787789999998 # Actual altitude: 54.1787789999998 # Commanded vehicle depth: 1379.874238 # Seafloor depth: -1434.053017 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 3 # Segment length 130.435758 meters # Minimum depth: 1423.098511 meters looking forward 100.000000 meters along route # Maximum depth: 1427.125796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.098511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745797; longitude = -122.105845; duration = 260; initialDepth = 1348.257030; finalDepth = 1373.098511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1787789999998 # Actual altitude: 54.1787789999998 # Commanded vehicle depth: 1373.098511 # Seafloor depth: -1427.125796 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 3 # Segment length 130.435573 meters # Minimum depth: 1398.257030 meters looking forward 100.000000 meters along route # Maximum depth: 1415.375309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.257030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746910; longitude = -122.106316; duration = 260; initialDepth = 1318.293977; finalDepth = 1348.257030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.118279 # Actual altitude: 67.118279 # Commanded vehicle depth: 1348.25703 # Seafloor depth: -1415.375309 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.85; 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 3 # Segment length 130.435388 meters # Minimum depth: 1368.293977 meters looking forward 100.000000 meters along route # Maximum depth: 1390.582083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.293977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748023; longitude = -122.106787; duration = 260; initialDepth = 1291.333562; finalDepth = 1318.293977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.288106 # Actual altitude: 72.288106 # Commanded vehicle depth: 1318.293977 # Seafloor depth: -1390.582083 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.92; 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 3 # Segment length 139.430727 meters # Minimum depth: 1341.333562 meters looking forward 100.000000 meters along route # Maximum depth: 1365.836729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1291.333562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749136; longitude = -122.107258; duration = 278; initialDepth = 1280.196343; finalDepth = 1291.333562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5031670000001 # Actual altitude: 74.5031670000001 # Commanded vehicle depth: 1291.333562 # Seafloor depth: -1365.836729 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 121.439493 meters # Minimum depth: 1330.196343 meters looking forward 100.000000 meters along route # Maximum depth: 1339.789627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1280.196343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750325; longitude = -122.107762; duration = 242; initialDepth = 1252.221591; finalDepth = 1280.196343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5031670000001 # Actual altitude: 74.5031670000001 # Commanded vehicle depth: 1280.196343 # Seafloor depth: -1339.789627 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 130.434833 meters # Minimum depth: 1302.221591 meters looking forward 100.000000 meters along route # Maximum depth: 1321.672391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.221591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751361; longitude = -122.108201; duration = 260; initialDepth = 1203.387040; finalDepth = 1252.221591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4508000000001 # Actual altitude: 69.4508000000001 # Commanded vehicle depth: 1252.221591 # Seafloor depth: -1321.672391 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.434648 meters # Minimum depth: 1253.387040 meters looking forward 100.000000 meters along route # Maximum depth: 1273.488000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.387040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752474; longitude = -122.108672; duration = 260; initialDepth = 1174.006293; finalDepth = 1203.387040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.10096 # Actual altitude: 70.10096 # Commanded vehicle depth: 1203.38704 # Seafloor depth: -1273.488000 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.04; 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 3 # Segment length 130.434462 meters # Minimum depth: 1224.006293 meters looking forward 100.000000 meters along route # Maximum depth: 1240.240169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.006293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753587; longitude = -122.109143; duration = 260; initialDepth = 1129.019998; finalDepth = 1174.006293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.10096 # Actual altitude: 70.10096 # Commanded vehicle depth: 1174.006293 # Seafloor depth: -1240.240169 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.04; 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 3 # Segment length 130.434278 meters # Minimum depth: 1179.019998 meters looking forward 100.000000 meters along route # Maximum depth: 1207.576932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.019998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754700; longitude = -122.109614; duration = 260; initialDepth = 1104.978320; finalDepth = 1129.019998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.556934 # Actual altitude: 78.556934 # Commanded vehicle depth: 1129.019998 # Seafloor depth: -1207.576932 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.42; 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 3 # Segment length 130.434092 meters # Minimum depth: 1154.978320 meters looking forward 100.000000 meters along route # Maximum depth: 1174.166806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.978320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755813; longitude = -122.110085; duration = 260; initialDepth = 1063.403663; finalDepth = 1104.978320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.556934 # Actual altitude: 78.556934 # Commanded vehicle depth: 1104.97832 # Seafloor depth: -1174.166806 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 31.42; 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 3 # Segment length 150.673636 meters # Minimum depth: 1113.403663 meters looking forward 100.000000 meters along route # Maximum depth: 1154.315861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.403663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756926; longitude = -122.110557; duration = 301; initialDepth = 1045.275575; finalDepth = 1063.403663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.912198 # Actual altitude: 90.912198 # Commanded vehicle depth: 1063.403663 # Seafloor depth: -1154.315861 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.36; 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 3 # Segment length 110.193994 meters # Minimum depth: 1095.275575 meters looking forward 100.000000 meters along route # Maximum depth: 1107.713341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.275575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758212; longitude = -122.111101; duration = 220; initialDepth = 1019.965347; finalDepth = 1045.275575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.912198 # Actual altitude: 90.912198 # Commanded vehicle depth: 1045.275575 # Seafloor depth: -1107.713341 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.36; 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 3 # Segment length 130.433538 meters # Minimum depth: 1069.965347 meters looking forward 100.000000 meters along route # Maximum depth: 1081.415797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.965347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759152; longitude = -122.111499; duration = 260; initialDepth = 992.177587; finalDepth = 1019.965347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.437766 # Actual altitude: 62.437766 # Commanded vehicle depth: 1019.965347 # Seafloor depth: -1081.415797 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.98; 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 3 # Segment length 130.433352 meters # Minimum depth: 1042.177587 meters looking forward 100.000000 meters along route # Maximum depth: 1056.875565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.177587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760265; longitude = -122.111970; duration = 260; initialDepth = 964.379898; finalDepth = 992.177587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6979780000001 # Actual altitude: 64.6979780000001 # Commanded vehicle depth: 992.177587 # Seafloor depth: -1056.875565 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 3 # Segment length 130.433168 meters # Minimum depth: 1014.379898 meters looking forward 100.000000 meters along route # Maximum depth: 1028.979579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.379898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761378; longitude = -122.112441; duration = 260; initialDepth = 944.106565; finalDepth = 964.379898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6979780000001 # Actual altitude: 64.6979780000001 # Commanded vehicle depth: 964.379898 # Seafloor depth: -1028.979579 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 3 # Segment length 114.691080 meters # Minimum depth: 994.106565 meters looking forward 100.000000 meters along route # Maximum depth: 1007.833094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.106565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762491; longitude = -122.112912; duration = 229; initialDepth = 913.427084; finalDepth = 944.106565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.599681 # Actual altitude: 64.599681 # Commanded vehicle depth: 944.106565 # Seafloor depth: -1007.833094 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.84; 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 3 # Segment length 102.697121 meters # Minimum depth: 963.427084 meters looking forward 100.000000 meters along route # Maximum depth: 982.493276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.427084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763469; longitude = -122.113327; duration = 205; initialDepth = 882.032175; finalDepth = 913.427084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.066192 # Actual altitude: 69.066192 # Commanded vehicle depth: 913.427084 # Seafloor depth: -982.493276 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 to get to end of line 2 # Segment length 167.405477 meters # Minimum depth: 932.032175 meters looking forward 100.000000 meters along route # Maximum depth: 957.439046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.032175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764346; longitude = -122.113698; duration = 334; # abortOnTimeout = True; initialDepth = 854.431322; finalDepth = 882.032175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4068709999999 # Actual altitude: 75.4068709999999 # Commanded vehicle depth: 882.032175 # Seafloor depth: -957.439046 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.16; 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 2 # Segment length 125.554058 meters # Minimum depth: 904.431322 meters looking forward 100.000000 meters along route # Maximum depth: 919.812970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.431322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765830; longitude = -122.114038; duration = 251; initialDepth = 818.068516; finalDepth = 854.431322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4068709999999 # Actual altitude: 75.4068709999999 # Commanded vehicle depth: 854.431322 # Seafloor depth: -919.812970 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.16; 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 2 # Segment length 125.554015 meters # Minimum depth: 868.068516 meters looking forward 100.000000 meters along route # Maximum depth: 887.167948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.068516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766943; longitude = -122.114294; duration = 251; initialDepth = 791.300961; finalDepth = 818.068516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.099432 # Actual altitude: 69.099432 # Commanded vehicle depth: 818.068516 # Seafloor depth: -887.167948 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553972 meters # Minimum depth: 841.300961 meters looking forward 100.000000 meters along route # Maximum depth: 856.499732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.300961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768056; longitude = -122.114549; duration = 251; initialDepth = 755.120819; finalDepth = 791.300961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.099432 # Actual altitude: 69.099432 # Commanded vehicle depth: 791.300961 # Seafloor depth: -856.499732 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553929 meters # Minimum depth: 805.120819 meters looking forward 100.000000 meters along route # Maximum depth: 826.412373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.120819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769169; longitude = -122.114805; duration = 251; initialDepth = 732.094109; finalDepth = 755.120819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.291554 # Actual altitude: 71.291554 # Commanded vehicle depth: 755.120819 # Seafloor depth: -826.412373 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553887 meters # Minimum depth: 782.094109 meters looking forward 100.000000 meters along route # Maximum depth: 797.256620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.094109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770281; longitude = -122.115060; duration = 251; initialDepth = 687.700841; finalDepth = 732.094109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.291554 # Actual altitude: 71.291554 # Commanded vehicle depth: 732.094109 # Seafloor depth: -797.256620 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553843 meters # Minimum depth: 737.700841 meters looking forward 100.000000 meters along route # Maximum depth: 767.120696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.700841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771394; longitude = -122.115315; duration = 251; initialDepth = 670.256440; finalDepth = 687.700841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.419855 # Actual altitude: 79.419855 # Commanded vehicle depth: 687.700841 # Seafloor depth: -767.120696 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553801 meters # Minimum depth: 720.256440 meters looking forward 100.000000 meters along route # Maximum depth: 735.428609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.256440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772507; longitude = -122.115571; duration = 251; initialDepth = 639.339850; finalDepth = 670.256440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.419855 # Actual altitude: 79.419855 # Commanded vehicle depth: 670.25644 # Seafloor depth: -735.428609 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 2 # Segment length 125.553757 meters # Minimum depth: 689.339850 meters looking forward 100.000000 meters along route # Maximum depth: 704.546695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.339850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773620; longitude = -122.115826; duration = 251; initialDepth = 612.355058; finalDepth = 639.339850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.206845 # Actual altitude: 65.206845 # Commanded vehicle depth: 639.33985 # Seafloor depth: -704.546695 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.08; 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 2 # Segment length 104.628099 meters # Minimum depth: 662.355058 meters looking forward 100.000000 meters along route # Maximum depth: 674.659079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.355058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774733; longitude = -122.116082; duration = 209; initialDepth = 585.378113; finalDepth = 612.355058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.206845 # Actual altitude: 65.206845 # Commanded vehicle depth: 612.355058 # Seafloor depth: -674.659079 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.08; 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 1 # Segment length 90.019813 meters # Minimum depth: 635.378113 meters looking forward 100.000000 meters along route # Maximum depth: 653.839681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.378113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775661; longitude = -122.116295; duration = 180; # abortOnTimeout = True; initialDepth = 572.130549; finalDepth = 585.378113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4615680000001 # Actual altitude: 68.4615680000001 # Commanded vehicle depth: 585.378113 # Seafloor depth: -653.839681 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.38; 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 1 # Segment length 119.328563 meters # Minimum depth: 622.130549 meters looking forward 100.000000 meters along route # Maximum depth: 634.031232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.130549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776458; longitude = -122.116109; duration = 238; initialDepth = 534.551478; finalDepth = 572.130549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4615680000001 # Actual altitude: 68.4615680000001 # Commanded vehicle depth: 572.130549 # Seafloor depth: -634.031232 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.38; 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 1 # Segment length 150.730773 meters # Minimum depth: 584.551478 meters looking forward 100.000000 meters along route # Maximum depth: 609.216485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.551478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777516; longitude = -122.115863; duration = 301; initialDepth = 522.797575; finalDepth = 534.551478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.6650070000001 # Actual altitude: 74.6650070000001 # Commanded vehicle depth: 534.551478 # Seafloor depth: -609.216485 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.87; 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 100.487155 meters # Minimum depth: 572.797575 meters looking forward 100.000000 meters along route # Maximum depth: 579.675110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.797575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778851; longitude = -122.115553; duration = 200; initialDepth = 504.169611; finalDepth = 522.797575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.6650070000001 # Actual altitude: 74.6650070000001 # Commanded vehicle depth: 522.797575 # Seafloor depth: -579.675110 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.87; 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 125.608915 meters # Minimum depth: 554.169611 meters looking forward 100.000000 meters along route # Maximum depth: 563.079607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.169611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779741; longitude = -122.115346; duration = 251; initialDepth = 488.796769; finalDepth = 504.169611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.909996 # Actual altitude: 58.909996 # Commanded vehicle depth: 504.169611 # Seafloor depth: -563.079607 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.56; 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 125.608881 meters # Minimum depth: 538.796769 meters looking forward 100.000000 meters along route # Maximum depth: 544.773493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.796769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780854; longitude = -122.115087; duration = 251; initialDepth = 474.397281; finalDepth = 488.796769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.909996 # Actual altitude: 58.909996 # Commanded vehicle depth: 488.796769 # Seafloor depth: -544.773493 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.56; 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 125.608848 meters # Minimum depth: 524.397281 meters looking forward 100.000000 meters along route # Maximum depth: 532.597537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.397281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781967; longitude = -122.114828; duration = 251; initialDepth = 455.790710; finalDepth = 474.397281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.200256 # Actual altitude: 58.200256 # Commanded vehicle depth: 474.397281 # Seafloor depth: -532.597537 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.28; 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 1 # Segment length 125.608815 meters # Minimum depth: 505.790710 meters looking forward 100.000000 meters along route # Maximum depth: 515.044797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.790710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783080; longitude = -122.114569; duration = 251; initialDepth = 433.888105; finalDepth = 455.790710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.254087 # Actual altitude: 59.254087 # Commanded vehicle depth: 455.79071 # Seafloor depth: -515.044797 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.70; 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 1 # Segment length 125.608781 meters # Minimum depth: 483.888105 meters looking forward 100.000000 meters along route # Maximum depth: 494.670566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.888105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784193; longitude = -122.114310; duration = 251; initialDepth = 409.390488; finalDepth = 433.888105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.782461 # Actual altitude: 60.782461 # Commanded vehicle depth: 433.888105 # Seafloor depth: -494.670566 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.31; 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 1 # Segment length 125.608748 meters # Minimum depth: 459.390488 meters looking forward 100.000000 meters along route # Maximum depth: 473.174295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.390488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785306; longitude = -122.114051; duration = 251; initialDepth = 390.506282; finalDepth = 409.390488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.783807 # Actual altitude: 63.783807 # Commanded vehicle depth: 409.390488 # Seafloor depth: -473.174295 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.51; 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 1 # Segment length 125.608715 meters # Minimum depth: 440.506282 meters looking forward 100.000000 meters along route # Maximum depth: 451.274916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.506282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786419; longitude = -122.113793; duration = 251; initialDepth = 365.242096; finalDepth = 390.506282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.783807 # Actual altitude: 63.783807 # Commanded vehicle depth: 390.506282 # Seafloor depth: -451.274916 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.51; 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 1 # Segment length 125.608682 meters # Minimum depth: 415.242096 meters looking forward 100.000000 meters along route # Maximum depth: 430.445941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.242096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787532; longitude = -122.113534; duration = 251; initialDepth = 350.738676; finalDepth = 365.242096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.203845 # Actual altitude: 65.203845 # Commanded vehicle depth: 365.242096 # Seafloor depth: -430.445941 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.08; 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 1 # Segment length 125.608648 meters # Minimum depth: 400.738676 meters looking forward 100.000000 meters along route # Maximum depth: 411.158689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.738676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788645; longitude = -122.113275; duration = 251; initialDepth = 321.366449; finalDepth = 350.738676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.203845 # Actual altitude: 65.203845 # Commanded vehicle depth: 350.738676 # Seafloor depth: -411.158689 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.08; 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 1 # Segment length 125.608615 meters # Minimum depth: 371.366449 meters looking forward 100.000000 meters along route # Maximum depth: 389.944613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.366449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789758; longitude = -122.113016; duration = 251; initialDepth = 310.944131; finalDepth = 321.366449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.578164 # Actual altitude: 68.578164 # Commanded vehicle depth: 321.366449 # Seafloor depth: -389.944613 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.43; 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 1 # Segment length 125.608582 meters # Minimum depth: 360.944131 meters looking forward 100.000000 meters along route # Maximum depth: 370.454301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.944131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790871; longitude = -122.112757; duration = 251; initialDepth = 276.655634; finalDepth = 310.944131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.578164 # Actual altitude: 68.578164 # Commanded vehicle depth: 310.944131 # Seafloor depth: -370.454301 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.43; 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 1 # Segment length 138.169401 meters # Minimum depth: 326.655634 meters looking forward 100.000000 meters along route # Maximum depth: 350.708948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.655634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791984; longitude = -122.112499; duration = 276; initialDepth = 266.728586; finalDepth = 276.655634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.053314 # Actual altitude: 74.053314 # Commanded vehicle depth: 276.655634 # Seafloor depth: -350.708948 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 1 # Segment length 113.047662 meters # Minimum depth: 316.728586 meters looking forward 100.000000 meters along route # Maximum depth: 324.654596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.728586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793208; longitude = -122.112214; duration = 226; initialDepth = 243.128806; finalDepth = 266.728586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.053314 # Actual altitude: 74.053314 # Commanded vehicle depth: 266.728586 # Seafloor depth: -324.654596 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 1 # Segment length 125.608482 meters # Minimum depth: 293.128806 meters looking forward 100.000000 meters along route # Maximum depth: 305.472291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.128806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794210; longitude = -122.111981; duration = 251; initialDepth = 219.344721; finalDepth = 243.128806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.343485 # Actual altitude: 62.343485 # Commanded vehicle depth: 243.128806 # Seafloor depth: -305.472291 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.94; 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 1 # Segment length 125.608449 meters # Minimum depth: 269.344721 meters looking forward 100.000000 meters along route # Maximum depth: 281.080359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.344721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795323; longitude = -122.111722; duration = 251; initialDepth = 195.666240; finalDepth = 219.344721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.343485 # Actual altitude: 62.343485 # Commanded vehicle depth: 219.344721 # Seafloor depth: -281.080359 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.94; 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 1 # Segment length 125.608415 meters # Minimum depth: 245.666240 meters looking forward 100.000000 meters along route # Maximum depth: 256.919172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.666240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796436; longitude = -122.111463; duration = 251; initialDepth = 176.646736; finalDepth = 195.666240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.735638 # Actual altitude: 61.735638 # Commanded vehicle depth: 195.66624 # Seafloor depth: -256.919172 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.69; 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 1 # Segment length 125.608382 meters # Minimum depth: 226.646736 meters looking forward 100.000000 meters along route # Maximum depth: 235.987282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.646736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797549; longitude = -122.111204; duration = 251; initialDepth = 156.794929; finalDepth = 176.646736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.252932 # Actual altitude: 61.252932 # Commanded vehicle depth: 176.646736 # Seafloor depth: -235.987282 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.50; 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 1 # Segment length 125.608349 meters # Minimum depth: 206.794929 meters looking forward 100.000000 meters along route # Maximum depth: 216.774966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.794929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798661; longitude = -122.110946; duration = 251; initialDepth = 136.023212; finalDepth = 156.794929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.980037 # Actual altitude: 59.980037 # Commanded vehicle depth: 156.794929 # Seafloor depth: -216.774966 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.99; 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 1 # Segment length 125.608316 meters # Minimum depth: 186.023212 meters looking forward 100.000000 meters along route # Maximum depth: 196.755952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.023212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799774; longitude = -122.110687; duration = 251; initialDepth = 120.212539; finalDepth = 136.023212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.73274 # Actual altitude: 60.73274 # Commanded vehicle depth: 136.023212 # Seafloor depth: -196.755952 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.29; 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 1 # Segment length 125.608282 meters # Minimum depth: 170.212539 meters looking forward 100.000000 meters along route # Maximum depth: 177.840366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.212539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800887; longitude = -122.110428; duration = 251; initialDepth = 100.897232; finalDepth = 120.212539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.73274 # Actual altitude: 60.73274 # Commanded vehicle depth: 120.212539 # Seafloor depth: -177.840366 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.29; 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 1 # Segment length 125.608249 meters # Minimum depth: 150.897232 meters looking forward 100.000000 meters along route # Maximum depth: 159.473507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.897232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802000; longitude = -122.110169; duration = 251; initialDepth = 97.101146; finalDepth = 100.897232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.576275 # Actual altitude: 58.576275 # Commanded vehicle depth: 100.897232 # Seafloor depth: -159.473507 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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 1 # Segment length 125.608216 meters # Minimum depth: 147.101146 meters looking forward 100.000000 meters along route # Maximum depth: 148.521852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.101146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803113; longitude = -122.109910; duration = 251; initialDepth = 92.769589; finalDepth = 97.101146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.576275 # Actual altitude: 58.576275 # Commanded vehicle depth: 97.101146 # Seafloor depth: -148.521852 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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 1 # Segment length 125.608182 meters # Minimum depth: 142.769589 meters looking forward 100.000000 meters along route # Maximum depth: 145.554725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.769589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804226; longitude = -122.109651; duration = 251; initialDepth = 91.119110; finalDepth = 92.769589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785136 # Actual altitude: 52.785136 # Commanded vehicle depth: 92.769589 # Seafloor depth: -145.554725 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 1 # Segment length 125.608150 meters # Minimum depth: 141.119110 meters looking forward 100.000000 meters along route # Maximum depth: 142.296486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.119110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805339; longitude = -122.109393; duration = 251; initialDepth = 88.764601; finalDepth = 91.119110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785136 # Actual altitude: 52.785136 # Commanded vehicle depth: 91.11911 # Seafloor depth: -142.296486 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 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 1 # Segment length 125.608116 meters # Minimum depth: 138.764601 meters looking forward 100.000000 meters along route # Maximum depth: 140.008188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.764601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806452; longitude = -122.109134; duration = 251; initialDepth = 86.519323; finalDepth = 88.764601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.243587 # Actual altitude: 51.243587 # Commanded vehicle depth: 88.764601 # Seafloor depth: -140.008188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.50; 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 1 # Segment length 125.608082 meters # Minimum depth: 136.519323 meters looking forward 100.000000 meters along route # Maximum depth: 137.630783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.519323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807565; longitude = -122.108875; duration = 251; initialDepth = 78.854782; finalDepth = 86.519323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.243587 # Actual altitude: 51.243587 # Commanded vehicle depth: 86.519323 # Seafloor depth: -137.630783 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.50; 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 1 # Segment length 144.449254 meters # Minimum depth: 128.854782 meters looking forward 100.000000 meters along route # Maximum depth: 135.210862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.854782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808678; longitude = -122.108616; duration = 288; initialDepth = 75.968295; finalDepth = 78.854782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.35608 # Actual altitude: 56.35608 # Commanded vehicle depth: 78.854782 # Seafloor depth: -135.210862 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; 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 1 # Segment length 106.766812 meters # Minimum depth: 125.968295 meters looking forward 100.000000 meters along route # Maximum depth: 127.978938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.968295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809958; longitude = -122.108319; duration = 213; initialDepth = 72.718355; finalDepth = 75.968295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.35608 # Actual altitude: 56.35608 # Commanded vehicle depth: 75.968295 # Seafloor depth: -127.978938 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; 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 1 # Segment length 125.607983 meters # Minimum depth: 122.718355 meters looking forward 100.000000 meters along route # Maximum depth: 124.652795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.718355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810904; longitude = -122.108099; duration = 251; initialDepth = 70.384070; finalDepth = 72.718355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.010643 # Actual altitude: 52.010643 # Commanded vehicle depth: 72.718355 # Seafloor depth: -124.652795 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 125.607949 meters # Minimum depth: 120.384070 meters looking forward 100.000000 meters along route # Maximum depth: 121.121897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.384070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812017; longitude = -122.107840; duration = 251; initialDepth = 68.693858; finalDepth = 70.384070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.93444 # Actual altitude: 51.93444 # Commanded vehicle depth: 70.38407 # Seafloor depth: -121.121897 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.77; 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 1 # Segment length 125.607917 meters # Minimum depth: 118.693858 meters looking forward 100.000000 meters along route # Maximum depth: 119.612897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.693858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813130; longitude = -122.107581; duration = 251; initialDepth = 65.865449; finalDepth = 68.693858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.919039 # Actual altitude: 50.919039 # Commanded vehicle depth: 68.693858 # Seafloor depth: -119.612897 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.37; 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 1 # Segment length 146.542527 meters # Minimum depth: 115.865449 meters looking forward 100.000000 meters along route # Maximum depth: 117.968080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.865449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814243; longitude = -122.107322; duration = 293; initialDepth = 65.452077; finalDepth = 65.865449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.102631 # Actual altitude: 52.102631 # Commanded vehicle depth: 65.865449 # Seafloor depth: -117.968080 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.84; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 52.102631 # Sonar parameter altitude: 52.102631 # Commanded vehicle depth: 65.452077 # Seafloor depth: -115.452077 # 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; 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 = 20.84; 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; 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: 115.452077 meters looking forward 100.000000 meters along route # Maximum depth: 117.073479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1427.672863 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.452077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815541; longitude = -122.107020; duration = 600; initialDepth = 65.452077; finalDepth = 65.452077; 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 = 348.0; 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 = 348.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################