# 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: 2010_Davidson_2v1.rte # Mission File: 2010_Davidson_2v1.cfg # Distance: 76361.335976 (m) # Estimated Time: 53319 (s) 14.811 (hr) # Abort Time: 61135 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1864 (s) # Way Points: 35 # Route Points: 733 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1953.69182 (m) # Abort Vehicle Depth: 1991.19182 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1691.070638 m # Spiral descent altitude: 75 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 -122.710146 35.745676 -1776.070638 0.000000 3 # 1 -122.713829 35.753218 -1700.506022 900.248494 3 # 2 -122.751213 35.710411 -1774.863434 6728.579774 4 # 3 -122.749408 35.709370 -1808.029724 6928.579774 3 # 4 -122.712213 35.752247 -1690.853973 12753.362122 4 # 5 -122.710407 35.751205 -1681.817902 12953.362122 3 # 6 -122.747602 35.708329 -1795.788696 18778.144469 4 # 7 -122.745797 35.707288 -1679.840607 18978.144469 3 # 8 -122.708602 35.750163 -1698.963684 24802.926817 4 # 9 -122.706796 35.749122 -1694.885162 25002.926817 3 # 10 -122.743992 35.706247 -1654.205414 30827.709165 4 # 11 -122.742187 35.705206 -1660.321777 31027.709165 3 # 12 -122.704990 35.748080 -1649.739410 36852.491513 4 # 13 -122.703185 35.747038 -1594.725555 37052.491513 3 # 14 -122.740382 35.704165 -1648.402710 42877.273860 4 # 15 -122.738577 35.703124 -1606.590790 43077.273860 3 # 16 -122.701379 35.745996 -1559.625549 48902.056208 4 # 17 -122.699574 35.744955 -1524.868866 49102.056208 3 # 18 -122.736772 35.702082 -1538.817291 54926.838556 4 # 19 -122.734967 35.701041 -1628.825470 55126.838556 3 # 20 -122.697768 35.743913 -1595.868927 60951.620904 4 # 21 -122.695963 35.742871 -1707.960114 61151.620904 3 # 22 -122.733162 35.700000 -1747.428192 66976.403252 3 # 23 -122.726756 35.715001 -1478.421875 68738.170193 1 # 24 -122.723662 35.719778 -1346.037760 69337.349344 1 # 25 -122.722852 35.722782 -1287.845866 69678.539506 1 # 26 -122.719132 35.726808 -1362.651855 70237.605970 1 # 27 -122.721526 35.735942 -1648.352214 71273.493277 1 # 28 -122.720458 35.739697 -1617.594076 71701.078598 1 # 29 -122.719243 35.742492 -1551.705566 72029.889020 1 # 30 -122.719243 35.746457 -1499.121094 72469.751465 1 # 31 -122.716370 35.752046 -1705.633789 73141.774712 1 # 32 -122.717217 35.759647 -1822.243490 73988.316841 3 # 33 -122.699982 35.752166 -1531.263997 75753.662894 3 # 34 -122.695231 35.756042 -1553.637044 76361.335976 4 # # A total of 733 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 60300; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1953.691820; abortDepth = 1991.191820; minAltitude = 75.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1864; 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 34 # Segment length 164.871123 meters # Minimum depth: 1553.637044 meters looking forward 0.000000 meters along route # Maximum depth: 1553.637044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1478.637044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756042; longitude = -122.695231; captureRadius = 10; duration = 329; # abortOnTimeout = True; initialDepth = 1552.164673; finalDepth = 1478.637044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1478.637044 # Seafloor depth: -1553.637044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 113.055095 meters # Minimum depth: 1627.164673 meters looking forward 0.000000 meters along route # Maximum depth: 1627.164673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1552.164673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754990; longitude = -122.696520; captureRadius = 10; duration = 226; initialDepth = 1563.243530; finalDepth = 1552.164673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1552.164673 # Seafloor depth: -1627.164673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 113.055592 meters # Minimum depth: 1638.243530 meters looking forward 0.000000 meters along route # Maximum depth: 1638.243530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1563.243530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754269; longitude = -122.697404; captureRadius = 10; duration = 226; initialDepth = 1552.066162; finalDepth = 1563.243530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1563.24353 # Seafloor depth: -1638.243530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 113.056088 meters # Minimum depth: 1627.066162 meters looking forward 0.000000 meters along route # Maximum depth: 1627.066162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1552.066162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753548; longitude = -122.698287; captureRadius = 10; duration = 226; initialDepth = 1505.133301; finalDepth = 1552.066162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1552.066162 # Seafloor depth: -1627.066162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.635184 meters # Minimum depth: 1580.133301 meters looking forward 0.000000 meters along route # Maximum depth: 1580.133301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1505.133301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752827; longitude = -122.699171; captureRadius = 10; duration = 207; initialDepth = 1456.263997; finalDepth = 1505.133301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1505.133301 # Seafloor depth: -1580.133301 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 132.028243 meters # Minimum depth: 1531.263997 meters looking forward 0.000000 meters along route # Maximum depth: 1531.263997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1456.263997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752166; longitude = -122.699982; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 1416.327842; finalDepth = 1456.263997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1456.263997 # Seafloor depth: -1531.263997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.849861 meters # Minimum depth: 1491.327842 meters looking forward 0.000000 meters along route # Maximum depth: 1491.327842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.327842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752725; longitude = -122.701271; captureRadius = 10; duration = 203; initialDepth = 1414.043052; finalDepth = 1416.327842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1416.327842 # Seafloor depth: -1491.327842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.849429 meters # Minimum depth: 1489.043052 meters looking forward 0.000000 meters along route # Maximum depth: 1489.043052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1414.043052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753157; longitude = -122.702265; captureRadius = 10; duration = 203; initialDepth = 1422.153331; finalDepth = 1414.043052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1414.043052 # Seafloor depth: -1489.043052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.848995 meters # Minimum depth: 1497.153331 meters looking forward 0.000000 meters along route # Maximum depth: 1497.153331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.153331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753589; longitude = -122.703259; captureRadius = 10; duration = 203; initialDepth = 1409.093897; finalDepth = 1422.153331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1422.153331 # Seafloor depth: -1497.153331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.848563 meters # Minimum depth: 1484.093897 meters looking forward 0.000000 meters along route # Maximum depth: 1484.093897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.093897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754020; longitude = -122.704254; captureRadius = 10; duration = 203; initialDepth = 1399.498274; finalDepth = 1409.093897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1409.093897 # Seafloor depth: -1484.093897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.848130 meters # Minimum depth: 1474.498274 meters looking forward 0.000000 meters along route # Maximum depth: 1474.498274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1399.498274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754452; longitude = -122.705248; captureRadius = 10; duration = 203; initialDepth = 1432.236500; finalDepth = 1399.498274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1399.498274 # Seafloor depth: -1474.498274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.847697 meters # Minimum depth: 1507.236500 meters looking forward 0.000000 meters along route # Maximum depth: 1507.236500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1432.236500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754883; longitude = -122.706242; captureRadius = 10; duration = 203; initialDepth = 1443.434762; finalDepth = 1432.236500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1432.2365 # Seafloor depth: -1507.236500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.847264 meters # Minimum depth: 1518.434762 meters looking forward 0.000000 meters along route # Maximum depth: 1518.434762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.434762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755315; longitude = -122.707237; captureRadius = 10; duration = 203; initialDepth = 1446.428435; finalDepth = 1443.434762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1443.434762 # Seafloor depth: -1518.434762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.846832 meters # Minimum depth: 1521.428435 meters looking forward 0.000000 meters along route # Maximum depth: 1521.428435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1446.428435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755747; longitude = -122.708231; captureRadius = 10; duration = 203; initialDepth = 1447.470049; finalDepth = 1446.428435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1446.428435 # Seafloor depth: -1521.428435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.482653 meters # Minimum depth: 1522.470049 meters looking forward 0.000000 meters along route # Maximum depth: 1522.470049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1447.470049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756178; longitude = -122.709225; captureRadius = 10; duration = 204; initialDepth = 1495.258494; finalDepth = 1447.470049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1447.470049 # Seafloor depth: -1522.470049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.209711 meters # Minimum depth: 1578.804728 meters looking forward 0.000000 meters along route # Maximum depth: 1578.804728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1495.258494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756613; longitude = -122.710226; captureRadius = 10; duration = 202; initialDepth = 1538.032288; finalDepth = 1495.258494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.5462340067015 # Actual altitude: 83.5462340067015 # Commanded vehicle depth: 1495.2584939933 # Seafloor depth: -1578.804728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 334.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.845533 meters # Minimum depth: 1613.032288 meters looking forward 0.000000 meters along route # Maximum depth: 1613.032288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.032288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757041; longitude = -122.711214; captureRadius = 10; duration = 203; initialDepth = 1585.523639; finalDepth = 1538.032288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.5462340067015 # Actual altitude: 83.5462340067015 # Commanded vehicle depth: 1538.032288 # Seafloor depth: -1613.032288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 334.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.845100 meters # Minimum depth: 1665.286816 meters looking forward 0.000000 meters along route # Maximum depth: 1665.286816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1585.523639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757473; longitude = -122.712209; captureRadius = 10; duration = 203; initialDepth = 1633.014788; finalDepth = 1585.523639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7631769360917 # Actual altitude: 79.7631769360917 # Commanded vehicle depth: 1585.52363906391 # Seafloor depth: -1665.286816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.844668 meters # Minimum depth: 1716.126159 meters looking forward 0.000000 meters along route # Maximum depth: 1716.126159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1633.014788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757905; longitude = -122.713203; captureRadius = 10; duration = 203; initialDepth = 1680.505736; finalDepth = 1633.014788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.1113707833924 # Actual altitude: 83.1113707833924 # Commanded vehicle depth: 1633.01478821661 # Seafloor depth: -1716.126159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.844235 meters # Minimum depth: 1757.006435 meters looking forward 0.000000 meters along route # Maximum depth: 1757.006435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1680.505736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758336; longitude = -122.714197; captureRadius = 10; duration = 203; initialDepth = 1700.652177; finalDepth = 1680.505736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.1113707833924 # Actual altitude: 83.1113707833924 # Commanded vehicle depth: 1680.5057359244 # Seafloor depth: -1757.006435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.843802 meters # Minimum depth: 1775.652177 meters looking forward 0.000000 meters along route # Maximum depth: 1775.652177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.652177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758768; longitude = -122.715192; captureRadius = 10; duration = 203; initialDepth = 1727.588993; finalDepth = 1700.652177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5006990756049 # Actual altitude: 76.5006990756049 # Commanded vehicle depth: 1700.652177 # Seafloor depth: -1775.652177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 306.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.615337 meters # Minimum depth: 1802.588993 meters looking forward 0.000000 meters along route # Maximum depth: 1802.588993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1727.588993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759200; longitude = -122.716186; captureRadius = 10; duration = 211; initialDepth = 1747.243490; finalDepth = 1727.588993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1727.588993 # Seafloor depth: -1802.588993 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 32 # Segment length 137.186694 meters # Minimum depth: 1822.243490 meters looking forward 0.000000 meters along route # Maximum depth: 1822.243490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1747.243490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759647; longitude = -122.717217; captureRadius = 10; duration = 274; # abortOnTimeout = True; initialDepth = 1752.787431; finalDepth = 1747.243490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1747.24349 # Seafloor depth: -1822.243490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.380502 meters # Minimum depth: 1827.787431 meters looking forward 0.000000 meters along route # Maximum depth: 1827.787431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1752.787431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758415; longitude = -122.717080; captureRadius = 10; duration = 200; initialDepth = 1762.125277; finalDepth = 1752.787431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1752.787431 # Seafloor depth: -1827.787431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380496 meters # Minimum depth: 1837.125277 meters looking forward 0.000000 meters along route # Maximum depth: 1837.125277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.125277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757514; longitude = -122.716980; captureRadius = 10; duration = 200; initialDepth = 1767.908813; finalDepth = 1762.125277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1762.125277 # Seafloor depth: -1837.125277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380492 meters # Minimum depth: 1842.908813 meters looking forward 0.000000 meters along route # Maximum depth: 1842.908813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1767.908813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756613; longitude = -122.716879; captureRadius = 10; duration = 200; initialDepth = 1769.683061; finalDepth = 1767.908813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1767.908813 # Seafloor depth: -1842.908813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380486 meters # Minimum depth: 1844.683061 meters looking forward 0.000000 meters along route # Maximum depth: 1844.683061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1769.683061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755711; longitude = -122.716779; captureRadius = 10; duration = 200; initialDepth = 1751.810258; finalDepth = 1769.683061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1769.683061 # Seafloor depth: -1844.683061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380481 meters # Minimum depth: 1826.810258 meters looking forward 0.000000 meters along route # Maximum depth: 1826.810258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1751.810258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754810; longitude = -122.716678; captureRadius = 10; duration = 200; initialDepth = 1694.811490; finalDepth = 1751.810258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1751.810258 # Seafloor depth: -1826.810258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380476 meters # Minimum depth: 1769.811490 meters looking forward 0.000000 meters along route # Maximum depth: 1769.811490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.811490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753909; longitude = -122.716578; captureRadius = 10; duration = 200; initialDepth = 1641.552146; finalDepth = 1694.811490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.81149 # Seafloor depth: -1769.811490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 107.072502 meters # Minimum depth: 1716.552146 meters looking forward 0.000000 meters along route # Maximum depth: 1716.552146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.552146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753007; longitude = -122.716477; captureRadius = 10; duration = 214; initialDepth = 1630.633789; finalDepth = 1641.552146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.552146 # Seafloor depth: -1716.552146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 137.850403 meters # Minimum depth: 1705.633789 meters looking forward 0.000000 meters along route # Maximum depth: 1705.633789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1630.633789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752046; longitude = -122.716370; captureRadius = 10; duration = 275; # abortOnTimeout = True; initialDepth = 1597.759306; finalDepth = 1630.633789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1630.633789 # Seafloor depth: -1705.633789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.221753 meters # Minimum depth: 1672.759306 meters looking forward 0.000000 meters along route # Maximum depth: 1672.759306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1597.759306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750899; longitude = -122.716959; captureRadius = 10; duration = 208; initialDepth = 1515.105012; finalDepth = 1597.759306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1597.759306 # Seafloor depth: -1672.759306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.390785 meters # Minimum depth: 1590.105012 meters looking forward 0.000000 meters along route # Maximum depth: 1590.105012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.105012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750033; longitude = -122.717405; captureRadius = 10; duration = 216; initialDepth = 1490.286570; finalDepth = 1515.105012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.105012 # Seafloor depth: -1590.105012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.390951 meters # Minimum depth: 1565.286570 meters looking forward 0.000000 meters along route # Maximum depth: 1565.286570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.286570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749131; longitude = -122.717868; captureRadius = 10; duration = 216; initialDepth = 1454.901351; finalDepth = 1490.286570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1490.28657 # Seafloor depth: -1565.286570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.391117 meters # Minimum depth: 1529.901351 meters looking forward 0.000000 meters along route # Maximum depth: 1529.901351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1454.901351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748230; longitude = -122.718332; captureRadius = 10; duration = 216; initialDepth = 1433.363029; finalDepth = 1454.901351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1454.901351 # Seafloor depth: -1529.901351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.778238 meters # Minimum depth: 1508.363029 meters looking forward 0.000000 meters along route # Maximum depth: 1508.363029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.363029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747329; longitude = -122.718795; captureRadius = 10; duration = 209; initialDepth = 1424.121094; finalDepth = 1433.363029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1433.363029 # Seafloor depth: -1508.363029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 113.297930 meters # Minimum depth: 1499.121094 meters looking forward 0.000000 meters along route # Maximum depth: 1499.121094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.121094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746457; longitude = -122.719243; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 1426.092977; finalDepth = 1424.121094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1424.121094 # Seafloor depth: -1499.121094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.965620 meters # Minimum depth: 1501.092977 meters looking forward 0.000000 meters along route # Maximum depth: 1501.092977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.092977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745436; longitude = -122.719243; captureRadius = 10; duration = 219; initialDepth = 1440.150228; finalDepth = 1426.092977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1426.092977 # Seafloor depth: -1501.092977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 109.965601 meters # Minimum depth: 1515.150228 meters looking forward 0.000000 meters along route # Maximum depth: 1515.150228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1440.150228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744444; longitude = -122.719243; captureRadius = 10; duration = 219; initialDepth = 1450.902466; finalDepth = 1440.150228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1440.150228 # Seafloor depth: -1515.150228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.633294 meters # Minimum depth: 1525.902466 meters looking forward 0.000000 meters along route # Maximum depth: 1525.902466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1450.902466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743453; longitude = -122.719243; captureRadius = 10; duration = 213; initialDepth = 1476.705566; finalDepth = 1450.902466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1450.902466 # Seafloor depth: -1525.902466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 120.210131 meters # Minimum depth: 1551.705566 meters looking forward 0.000000 meters along route # Maximum depth: 1551.705566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1476.705566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742492; longitude = -122.719243; captureRadius = 10; duration = 240; # abortOnTimeout = True; initialDepth = 1477.827684; finalDepth = 1476.705566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1476.705566 # Seafloor depth: -1551.705566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.067888 meters # Minimum depth: 1552.827684 meters looking forward 0.000000 meters along route # Maximum depth: 1552.827684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1477.827684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741470; longitude = -122.719687; captureRadius = 10; duration = 212; initialDepth = 1490.987869; finalDepth = 1477.827684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1477.827684 # Seafloor depth: -1552.827684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.532403 meters # Minimum depth: 1565.987869 meters looking forward 0.000000 meters along route # Maximum depth: 1565.987869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.987869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740569; longitude = -122.720079; captureRadius = 10; duration = 205; initialDepth = 1538.799513; finalDepth = 1490.987869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1490.987869 # Seafloor depth: -1565.987869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 116.303133 meters # Minimum depth: 1617.594076 meters looking forward 0.000000 meters along route # Maximum depth: 1617.594076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.799513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739697; longitude = -122.720458; captureRadius = 10; duration = 232; # abortOnTimeout = True; initialDepth = 1560.287143; finalDepth = 1538.799513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7945632011565 # Actual altitude: 78.7945632011565 # Commanded vehicle depth: 1538.79951279884 # Seafloor depth: -1617.594076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.620458 meters # Minimum depth: 1635.287143 meters looking forward 0.000000 meters along route # Maximum depth: 1635.287143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1560.287143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738676; longitude = -122.720749; captureRadius = 10; duration = 205; initialDepth = 1608.139848; finalDepth = 1560.287143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7945632011565 # Actual altitude: 78.7945632011565 # Commanded vehicle depth: 1560.287143 # Seafloor depth: -1635.287143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.451412 meters # Minimum depth: 1684.901863 meters looking forward 0.000000 meters along route # Maximum depth: 1684.901863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1608.139848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737775; longitude = -122.721005; captureRadius = 10; duration = 210; initialDepth = 1621.824257; finalDepth = 1608.139848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7620154811154 # Actual altitude: 76.7620154811154 # Commanded vehicle depth: 1608.13984751888 # Seafloor depth: -1684.901863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.210318 meters # Minimum depth: 1696.824257 meters looking forward 0.000000 meters along route # Maximum depth: 1696.824257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1621.824257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736848; longitude = -122.721268; captureRadius = 10; duration = 206; initialDepth = 1573.352214; finalDepth = 1621.824257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7620154811154 # Actual altitude: 76.7620154811154 # Commanded vehicle depth: 1621.824257 # Seafloor depth: -1696.824257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 109.040590 meters # Minimum depth: 1648.352214 meters looking forward 0.000000 meters along route # Maximum depth: 1648.352214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.352214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735942; longitude = -122.721526; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1624.198675; finalDepth = 1573.352214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1573.352214 # Seafloor depth: -1648.352214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.225591 meters # Minimum depth: 1724.801488 meters looking forward 0.000000 meters along route # Maximum depth: 1724.801488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.198675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734980; longitude = -122.721274; captureRadius = 10; duration = 204; initialDepth = 1671.867250; finalDepth = 1624.198675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.602812821326 # Actual altitude: 100 # Commanded vehicle depth: 1624.19867517867 # Seafloor depth: -1724.801488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225629 meters # Minimum depth: 1765.555760 meters looking forward 0.000000 meters along route # Maximum depth: 1765.555760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.867250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734079; longitude = -122.721038; captureRadius = 10; duration = 204; initialDepth = 1662.088451; finalDepth = 1671.867250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.602812821326 # Actual altitude: 100 # Commanded vehicle depth: 1671.86725019508 # Seafloor depth: -1765.555760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225666 meters # Minimum depth: 1737.088451 meters looking forward 0.000000 meters along route # Maximum depth: 1737.088451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1662.088451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733178; longitude = -122.720802; captureRadius = 10; duration = 204; initialDepth = 1625.657406; finalDepth = 1662.088451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.6885098049204 # Actual altitude: 93.6885098049204 # Commanded vehicle depth: 1662.088451 # Seafloor depth: -1737.088451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225702 meters # Minimum depth: 1700.657406 meters looking forward 0.000000 meters along route # Maximum depth: 1700.657406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.657406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732276; longitude = -122.720565; captureRadius = 10; duration = 204; initialDepth = 1596.515869; finalDepth = 1625.657406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.657406 # Seafloor depth: -1700.657406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225740 meters # Minimum depth: 1671.515869 meters looking forward 0.000000 meters along route # Maximum depth: 1671.515869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1596.515869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731375; longitude = -122.720329; captureRadius = 10; duration = 204; initialDepth = 1536.732892; finalDepth = 1596.515869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1596.515869 # Seafloor depth: -1671.515869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225776 meters # Minimum depth: 1611.732892 meters looking forward 0.000000 meters along route # Maximum depth: 1611.732892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1536.732892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730474; longitude = -122.720093; captureRadius = 10; duration = 204; initialDepth = 1428.003522; finalDepth = 1536.732892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1536.732892 # Seafloor depth: -1611.732892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225814 meters # Minimum depth: 1503.003522 meters looking forward 0.000000 meters along route # Maximum depth: 1503.003522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1428.003522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729572; longitude = -122.719857; captureRadius = 10; duration = 204; initialDepth = 1425.307931; finalDepth = 1428.003522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1428.003522 # Seafloor depth: -1503.003522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.225851 meters # Minimum depth: 1500.307931 meters looking forward 0.000000 meters along route # Maximum depth: 1500.307931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1425.307931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728671; longitude = -122.719621; captureRadius = 10; duration = 204; initialDepth = 1345.289159; finalDepth = 1425.307931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1425.307931 # Seafloor depth: -1500.307931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.040948 meters # Minimum depth: 1420.289159 meters looking forward 0.000000 meters along route # Maximum depth: 1420.289159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1345.289159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727770; longitude = -122.719384; captureRadius = 10; duration = 218; initialDepth = 1287.651855; finalDepth = 1345.289159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1345.289159 # Seafloor depth: -1420.289159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 154.368116 meters # Minimum depth: 1362.651855 meters looking forward 0.000000 meters along route # Maximum depth: 1362.651855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1287.651855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726808; longitude = -122.719132; captureRadius = 10; duration = 308; # abortOnTimeout = True; initialDepth = 1264.040194; finalDepth = 1287.651855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1287.651855 # Seafloor depth: -1362.651855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.254995 meters # Minimum depth: 1339.040194 meters looking forward 0.000000 meters along route # Maximum depth: 1339.040194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1264.040194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725696; longitude = -122.720159; captureRadius = 10; duration = 200; initialDepth = 1269.331440; finalDepth = 1264.040194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1264.040194 # Seafloor depth: -1339.040194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.007461 meters # Minimum depth: 1344.331440 meters looking forward 0.000000 meters along route # Maximum depth: 1344.331440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1269.331440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724975; longitude = -122.720826; captureRadius = 10; duration = 200; initialDepth = 1285.656641; finalDepth = 1269.331440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1269.33144 # Seafloor depth: -1344.331440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.131701 meters # Minimum depth: 1360.656641 meters looking forward 0.000000 meters along route # Maximum depth: 1360.656641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1285.656641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724254; longitude = -122.721492; captureRadius = 10; duration = 200; initialDepth = 1251.155933; finalDepth = 1285.656641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1285.656641 # Seafloor depth: -1360.656641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.304191 meters # Minimum depth: 1326.155933 meters looking forward 0.000000 meters along route # Maximum depth: 1326.155933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1251.155933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723533; longitude = -122.722158; captureRadius = 10; duration = 208; initialDepth = 1212.845866; finalDepth = 1251.155933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1251.155933 # Seafloor depth: -1326.155933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 129.652213 meters # Minimum depth: 1287.845866 meters looking forward 0.000000 meters along route # Maximum depth: 1287.845866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1212.845866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722782; longitude = -122.722852; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 1241.048857; finalDepth = 1212.845866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1212.845866 # Seafloor depth: -1287.845866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.357052 meters # Minimum depth: 1316.048857 meters looking forward 0.000000 meters along route # Maximum depth: 1316.048857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1241.048857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721640; longitude = -122.723160; captureRadius = 10; duration = 204; initialDepth = 1257.225767; finalDepth = 1241.048857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1241.048857 # Seafloor depth: -1316.048857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.180897 meters # Minimum depth: 1332.225767 meters looking forward 0.000000 meters along route # Maximum depth: 1332.225767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1257.225767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720739; longitude = -122.723403; captureRadius = 10; duration = 218; initialDepth = 1271.037760; finalDepth = 1257.225767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1257.225767 # Seafloor depth: -1332.225767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 82.904855 meters # Minimum depth: 1346.037760 meters looking forward 0.000000 meters along route # Maximum depth: 1346.037760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1271.037760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719778; longitude = -122.723662; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 1267.008288; finalDepth = 1271.037760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1271.03776 # Seafloor depth: -1346.037760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.747059 meters # Minimum depth: 1342.008288 meters looking forward 0.000000 meters along route # Maximum depth: 1342.008288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1267.008288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719117; longitude = -122.724090; captureRadius = 10; duration = 203; initialDepth = 1292.003611; finalDepth = 1267.008288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1267.008288 # Seafloor depth: -1342.008288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.747270 meters # Minimum depth: 1367.003611 meters looking forward 0.000000 meters along route # Maximum depth: 1367.003611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1292.003611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718305; longitude = -122.724616; captureRadius = 10; duration = 203; initialDepth = 1307.112678; finalDepth = 1292.003611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1292.003611 # Seafloor depth: -1367.003611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.747481 meters # Minimum depth: 1382.112678 meters looking forward 0.000000 meters along route # Maximum depth: 1382.112678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1307.112678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717494; longitude = -122.725141; captureRadius = 10; duration = 203; initialDepth = 1324.273203; finalDepth = 1307.112678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1307.112678 # Seafloor depth: -1382.112678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.747692 meters # Minimum depth: 1399.273203 meters looking forward 0.000000 meters along route # Maximum depth: 1399.273203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1324.273203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716683; longitude = -122.725666; captureRadius = 10; duration = 203; initialDepth = 1350.659092; finalDepth = 1324.273203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1324.273203 # Seafloor depth: -1399.273203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 109.284794 meters # Minimum depth: 1425.659092 meters looking forward 0.000000 meters along route # Maximum depth: 1425.659092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1350.659092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715872; longitude = -122.726192; captureRadius = 10; duration = 218; initialDepth = 1401.619427; finalDepth = 1350.659092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1350.659092 # Seafloor depth: -1425.659092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 77.628917 meters # Minimum depth: 1478.421875 meters looking forward 0.000000 meters along route # Maximum depth: 1478.421875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1401.619427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715001; longitude = -122.726756; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 1437.818385; finalDepth = 1401.619427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8024476281851 # Actual altitude: 76.8024476281851 # Commanded vehicle depth: 1401.61942737181 # Seafloor depth: -1478.421875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.857711 meters # Minimum depth: 1512.839674 meters looking forward 0.000000 meters along route # Maximum depth: 1512.839674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1437.818385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714340; longitude = -122.727038; captureRadius = 10; duration = 211; initialDepth = 1468.270327; finalDepth = 1437.818385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8024476281851 # Actual altitude: 76.8024476281851 # Commanded vehicle depth: 1437.81838515976 # Seafloor depth: -1512.839674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.857824 meters # Minimum depth: 1543.270327 meters looking forward 0.000000 meters along route # Maximum depth: 1543.270327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1468.270327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713438; longitude = -122.727423; captureRadius = 10; duration = 211; initialDepth = 1462.961144; finalDepth = 1468.270327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0212888402402 # Actual altitude: 75.0212888402402 # Commanded vehicle depth: 1468.270327 # Seafloor depth: -1543.270327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.857937 meters # Minimum depth: 1537.961144 meters looking forward 0.000000 meters along route # Maximum depth: 1537.961144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.961144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712537; longitude = -122.727808; captureRadius = 10; duration = 211; initialDepth = 1442.108489; finalDepth = 1462.961144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.961144 # Seafloor depth: -1537.961144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.084395 meters # Minimum depth: 1517.108489 meters looking forward 0.000000 meters along route # Maximum depth: 1517.108489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.108489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711636; longitude = -122.728193; captureRadius = 10; duration = 202; initialDepth = 1458.610775; finalDepth = 1442.108489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.108489 # Seafloor depth: -1517.108489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.045994 meters # Minimum depth: 1533.610775 meters looking forward 0.000000 meters along route # Maximum depth: 1533.610775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1458.610775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710775; longitude = -122.728560; captureRadius = 10; duration = 200; initialDepth = 1472.601701; finalDepth = 1458.610775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1458.610775 # Seafloor depth: -1533.610775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858263 meters # Minimum depth: 1547.601701 meters looking forward 0.000000 meters along route # Maximum depth: 1547.601701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1472.601701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709923; longitude = -122.728924; captureRadius = 10; duration = 211; initialDepth = 1493.330452; finalDepth = 1472.601701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1472.601701 # Seafloor depth: -1547.601701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858376 meters # Minimum depth: 1568.330452 meters looking forward 0.000000 meters along route # Maximum depth: 1568.330452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1493.330452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709022; longitude = -122.729309; captureRadius = 10; duration = 211; initialDepth = 1490.609499; finalDepth = 1493.330452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1493.330452 # Seafloor depth: -1568.330452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858488 meters # Minimum depth: 1565.609499 meters looking forward 0.000000 meters along route # Maximum depth: 1565.609499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.609499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708120; longitude = -122.729694; captureRadius = 10; duration = 211; initialDepth = 1520.242254; finalDepth = 1490.609499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1490.609499 # Seafloor depth: -1565.609499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858600 meters # Minimum depth: 1595.242254 meters looking forward 0.000000 meters along route # Maximum depth: 1595.242254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1520.242254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707219; longitude = -122.730079; captureRadius = 10; duration = 211; initialDepth = 1567.850511; finalDepth = 1520.242254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1520.242254 # Seafloor depth: -1595.242254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858713 meters # Minimum depth: 1642.850511 meters looking forward 0.000000 meters along route # Maximum depth: 1642.850511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.850511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706318; longitude = -122.730464; captureRadius = 10; duration = 211; initialDepth = 1582.162050; finalDepth = 1567.850511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.850511 # Seafloor depth: -1642.850511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858826 meters # Minimum depth: 1657.162050 meters looking forward 0.000000 meters along route # Maximum depth: 1657.162050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1582.162050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705416; longitude = -122.730849; captureRadius = 10; duration = 211; initialDepth = 1583.482176; finalDepth = 1582.162050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1582.16205 # Seafloor depth: -1657.162050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.858938 meters # Minimum depth: 1658.482176 meters looking forward 0.000000 meters along route # Maximum depth: 1658.482176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1583.482176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704515; longitude = -122.731234; captureRadius = 10; duration = 211; initialDepth = 1582.413301; finalDepth = 1583.482176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1583.482176 # Seafloor depth: -1658.482176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.859051 meters # Minimum depth: 1657.413301 meters looking forward 0.000000 meters along route # Maximum depth: 1657.413301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1582.413301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703614; longitude = -122.731619; captureRadius = 10; duration = 211; initialDepth = 1592.049627; finalDepth = 1582.413301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1582.413301 # Seafloor depth: -1657.413301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.859164 meters # Minimum depth: 1667.049627 meters looking forward 0.000000 meters along route # Maximum depth: 1667.049627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1592.049627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702712; longitude = -122.732004; captureRadius = 10; duration = 211; initialDepth = 1608.979509; finalDepth = 1592.049627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1592.049627 # Seafloor depth: -1667.049627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.859276 meters # Minimum depth: 1683.979509 meters looking forward 0.000000 meters along route # Maximum depth: 1683.979509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1608.979509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701811; longitude = -122.732388; captureRadius = 10; duration = 211; initialDepth = 1629.485083; finalDepth = 1608.979509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1608.979509 # Seafloor depth: -1683.979509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.846468 meters # Minimum depth: 1704.485083 meters looking forward 0.000000 meters along route # Maximum depth: 1704.485083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.485083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700910; longitude = -122.732773; captureRadius = 10; duration = 213; initialDepth = 1672.428192; finalDepth = 1629.485083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.485083 # Seafloor depth: -1704.485083 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 22 # Segment length 115.020711 meters # Minimum depth: 1747.428192 meters looking forward 0.000000 meters along route # Maximum depth: 1747.428192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1672.428192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700000; longitude = -122.733162; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 1646.364032; finalDepth = 1672.428192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1672.428192 # Seafloor depth: -1747.428192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.572950 meters # Minimum depth: 1721.364032 meters looking forward 0.000000 meters along route # Maximum depth: 1721.364032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1646.364032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700846; longitude = -122.732427; captureRadius = 10; duration = 213; initialDepth = 1643.774869; finalDepth = 1646.364032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1646.364032 # Seafloor depth: -1721.364032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.046286 meters # Minimum depth: 1718.774869 meters looking forward 0.000000 meters along route # Maximum depth: 1718.774869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1643.774869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701631; longitude = -122.731747; captureRadius = 10; duration = 202; initialDepth = 1646.623814; finalDepth = 1643.774869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1643.774869 # Seafloor depth: -1718.774869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.156745 meters # Minimum depth: 1721.623814 meters looking forward 0.000000 meters along route # Maximum depth: 1721.623814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1646.623814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702374; longitude = -122.731102; captureRadius = 10; duration = 214; initialDepth = 1650.882886; finalDepth = 1646.623814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1646.623814 # Seafloor depth: -1721.623814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.461218 meters # Minimum depth: 1725.882886 meters looking forward 0.000000 meters along route # Maximum depth: 1725.882886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1650.882886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703163; longitude = -122.730417; captureRadius = 10; duration = 200; initialDepth = 1647.634132; finalDepth = 1650.882886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1650.882886 # Seafloor depth: -1725.882886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.808505 meters # Minimum depth: 1722.634132 meters looking forward 0.000000 meters along route # Maximum depth: 1722.634132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1647.634132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703902; longitude = -122.729776; captureRadius = 10; duration = 207; initialDepth = 1608.283973; finalDepth = 1647.634132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1647.634132 # Seafloor depth: -1722.634132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.808187 meters # Minimum depth: 1683.283973 meters looking forward 0.000000 meters along route # Maximum depth: 1683.283973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1608.283973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704666; longitude = -122.729113; captureRadius = 10; duration = 207; initialDepth = 1573.457117; finalDepth = 1608.283973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1608.283973 # Seafloor depth: -1683.283973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.807869 meters # Minimum depth: 1648.457117 meters looking forward 0.000000 meters along route # Maximum depth: 1648.457117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.457117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705430; longitude = -122.728450; captureRadius = 10; duration = 207; initialDepth = 1547.343714; finalDepth = 1573.457117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1573.457117 # Seafloor depth: -1648.457117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.807551 meters # Minimum depth: 1622.343714 meters looking forward 0.000000 meters along route # Maximum depth: 1622.343714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1547.343714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706194; longitude = -122.727787; captureRadius = 10; duration = 207; initialDepth = 1507.713557; finalDepth = 1547.343714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1547.343714 # Seafloor depth: -1622.343714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.807233 meters # Minimum depth: 1582.713557 meters looking forward 0.000000 meters along route # Maximum depth: 1582.713557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1507.713557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706958; longitude = -122.727124; captureRadius = 10; duration = 207; initialDepth = 1505.182807; finalDepth = 1507.713557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1507.713557 # Seafloor depth: -1582.713557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.806915 meters # Minimum depth: 1580.182807 meters looking forward 0.000000 meters along route # Maximum depth: 1580.182807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1505.182807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707722; longitude = -122.726461; captureRadius = 10; duration = 207; initialDepth = 1515.331789; finalDepth = 1505.182807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1505.182807 # Seafloor depth: -1580.182807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.806597 meters # Minimum depth: 1590.331789 meters looking forward 0.000000 meters along route # Maximum depth: 1590.331789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.331789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708486; longitude = -122.725798; captureRadius = 10; duration = 207; initialDepth = 1501.077280; finalDepth = 1515.331789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.331789 # Seafloor depth: -1590.331789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.806279 meters # Minimum depth: 1576.077280 meters looking forward 0.000000 meters along route # Maximum depth: 1576.077280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1501.077280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709250; longitude = -122.725135; captureRadius = 10; duration = 207; initialDepth = 1516.334375; finalDepth = 1501.077280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1501.07728 # Seafloor depth: -1576.077280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.805961 meters # Minimum depth: 1591.334375 meters looking forward 0.000000 meters along route # Maximum depth: 1591.334375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1516.334375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710014; longitude = -122.724472; captureRadius = 10; duration = 207; initialDepth = 1548.533770; finalDepth = 1516.334375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1516.334375 # Seafloor depth: -1591.334375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.244099 meters # Minimum depth: 1623.533770 meters looking forward 0.000000 meters along route # Maximum depth: 1623.533770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1548.533770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710778; longitude = -122.723810; captureRadius = 10; duration = 208; initialDepth = 1530.366123; finalDepth = 1548.533770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1548.53377 # Seafloor depth: -1623.533770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.366869 meters # Minimum depth: 1605.366123 meters looking forward 0.000000 meters along route # Maximum depth: 1605.366123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.366123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711545; longitude = -122.723144; captureRadius = 10; duration = 206; initialDepth = 1572.662549; finalDepth = 1530.366123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1530.366123 # Seafloor depth: -1605.366123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.827886 meters # Minimum depth: 1647.662549 meters looking forward 0.000000 meters along route # Maximum depth: 1647.662549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.662549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712306; longitude = -122.722484; captureRadius = 10; duration = 209; initialDepth = 1584.007882; finalDepth = 1572.662549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.662549 # Seafloor depth: -1647.662549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.781811 meters # Minimum depth: 1659.007882 meters looking forward 0.000000 meters along route # Maximum depth: 1659.007882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1584.007882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713078; longitude = -122.721814; captureRadius = 10; duration = 205; initialDepth = 1575.779483; finalDepth = 1584.007882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1584.007882 # Seafloor depth: -1659.007882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.411666 meters # Minimum depth: 1650.779483 meters looking forward 0.000000 meters along route # Maximum depth: 1650.779483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1575.779483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713834; longitude = -122.721158; captureRadius = 10; duration = 210; initialDepth = 1554.210637; finalDepth = 1575.779483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1575.779483 # Seafloor depth: -1650.779483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.196759 meters # Minimum depth: 1629.210637 meters looking forward 0.000000 meters along route # Maximum depth: 1629.210637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1554.210637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714610; longitude = -122.720485; captureRadius = 10; duration = 204; initialDepth = 1539.820078; finalDepth = 1554.210637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1554.210637 # Seafloor depth: -1629.210637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.995438 meters # Minimum depth: 1614.820078 meters looking forward 0.000000 meters along route # Maximum depth: 1614.820078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1539.820078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715362; longitude = -122.719832; captureRadius = 10; duration = 211; initialDepth = 1540.981363; finalDepth = 1539.820078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1539.820078 # Seafloor depth: -1614.820078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.611715 meters # Minimum depth: 1615.981363 meters looking forward 0.000000 meters along route # Maximum depth: 1615.981363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1540.981363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716142; longitude = -122.719155; captureRadius = 10; duration = 203; initialDepth = 1557.371142; finalDepth = 1540.981363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1540.981363 # Seafloor depth: -1615.981363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.579204 meters # Minimum depth: 1632.371142 meters looking forward 0.000000 meters along route # Maximum depth: 1632.371142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1557.371142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716890; longitude = -122.718506; captureRadius = 10; duration = 213; initialDepth = 1561.903558; finalDepth = 1557.371142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1557.371142 # Seafloor depth: -1632.371142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.026678 meters # Minimum depth: 1636.903558 meters looking forward 0.000000 meters along route # Maximum depth: 1636.903558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1561.903558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717675; longitude = -122.717826; captureRadius = 10; duration = 202; initialDepth = 1512.108148; finalDepth = 1561.903558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1561.903558 # Seafloor depth: -1636.903558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.162961 meters # Minimum depth: 1587.108148 meters looking forward 0.000000 meters along route # Maximum depth: 1587.108148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.108148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718418; longitude = -122.717180; captureRadius = 10; duration = 214; initialDepth = 1472.191511; finalDepth = 1512.108148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1512.108148 # Seafloor depth: -1587.108148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.441649 meters # Minimum depth: 1547.191511 meters looking forward 0.000000 meters along route # Maximum depth: 1547.191511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1472.191511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719207; longitude = -122.716496; captureRadius = 10; duration = 200; initialDepth = 1465.513413; finalDepth = 1472.191511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1472.191511 # Seafloor depth: -1547.191511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.801828 meters # Minimum depth: 1540.513413 meters looking forward 0.000000 meters along route # Maximum depth: 1540.513413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1465.513413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719946; longitude = -122.715855; captureRadius = 10; duration = 207; initialDepth = 1446.046801; finalDepth = 1465.513413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1465.513413 # Seafloor depth: -1540.513413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.801510 meters # Minimum depth: 1521.046801 meters looking forward 0.000000 meters along route # Maximum depth: 1521.046801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1446.046801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720710; longitude = -122.715192; captureRadius = 10; duration = 207; initialDepth = 1445.645543; finalDepth = 1446.046801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1446.046801 # Seafloor depth: -1521.046801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.801193 meters # Minimum depth: 1520.645543 meters looking forward 0.000000 meters along route # Maximum depth: 1520.645543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1445.645543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721474; longitude = -122.714529; captureRadius = 10; duration = 207; initialDepth = 1437.059585; finalDepth = 1445.645543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1445.645543 # Seafloor depth: -1520.645543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.800875 meters # Minimum depth: 1512.059585 meters looking forward 0.000000 meters along route # Maximum depth: 1512.059585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1437.059585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722238; longitude = -122.713866; captureRadius = 10; duration = 207; initialDepth = 1439.491936; finalDepth = 1437.059585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1437.059585 # Seafloor depth: -1512.059585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.800556 meters # Minimum depth: 1514.491936 meters looking forward 0.000000 meters along route # Maximum depth: 1514.491936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1439.491936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723002; longitude = -122.713203; captureRadius = 10; duration = 207; initialDepth = 1442.146498; finalDepth = 1439.491936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1439.491936 # Seafloor depth: -1514.491936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.800239 meters # Minimum depth: 1517.146498 meters looking forward 0.000000 meters along route # Maximum depth: 1517.146498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.146498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723766; longitude = -122.712540; captureRadius = 10; duration = 207; initialDepth = 1447.410150; finalDepth = 1442.146498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.146498 # Seafloor depth: -1517.146498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.799921 meters # Minimum depth: 1522.410150 meters looking forward 0.000000 meters along route # Maximum depth: 1522.410150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1447.410150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724530; longitude = -122.711877; captureRadius = 10; duration = 207; initialDepth = 1462.568457; finalDepth = 1447.410150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1447.41015 # Seafloor depth: -1522.410150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.799604 meters # Minimum depth: 1537.568457 meters looking forward 0.000000 meters along route # Maximum depth: 1537.568457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.568457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725294; longitude = -122.711214; captureRadius = 10; duration = 207; initialDepth = 1490.259280; finalDepth = 1462.568457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.568457 # Seafloor depth: -1537.568457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.799285 meters # Minimum depth: 1565.259280 meters looking forward 0.000000 meters along route # Maximum depth: 1565.259280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.259280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726058; longitude = -122.710551; captureRadius = 10; duration = 207; initialDepth = 1500.242508; finalDepth = 1490.259280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1490.25928 # Seafloor depth: -1565.259280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.250504 meters # Minimum depth: 1575.242508 meters looking forward 0.000000 meters along route # Maximum depth: 1575.242508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1500.242508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726822; longitude = -122.709888; captureRadius = 10; duration = 208; initialDepth = 1528.060465; finalDepth = 1500.242508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1500.242508 # Seafloor depth: -1575.242508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.347113 meters # Minimum depth: 1603.060465 meters looking forward 0.000000 meters along route # Maximum depth: 1603.060465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.060465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727589; longitude = -122.709223; captureRadius = 10; duration = 206; initialDepth = 1538.400047; finalDepth = 1528.060465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.060465 # Seafloor depth: -1603.060465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.834254 meters # Minimum depth: 1613.400047 meters looking forward 0.000000 meters along route # Maximum depth: 1613.400047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.400047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728350; longitude = -122.708563; captureRadius = 10; duration = 209; initialDepth = 1568.550455; finalDepth = 1538.400047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1538.400047 # Seafloor depth: -1613.400047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.762092 meters # Minimum depth: 1643.550455 meters looking forward 0.000000 meters along route # Maximum depth: 1643.550455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1568.550455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729122; longitude = -122.707893; captureRadius = 10; duration = 205; initialDepth = 1581.338878; finalDepth = 1568.550455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1568.550455 # Seafloor depth: -1643.550455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.417996 meters # Minimum depth: 1656.338878 meters looking forward 0.000000 meters along route # Maximum depth: 1656.338878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1581.338878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729878; longitude = -122.707237; captureRadius = 10; duration = 210; initialDepth = 1528.777840; finalDepth = 1581.338878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1581.338878 # Seafloor depth: -1656.338878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.177079 meters # Minimum depth: 1603.777840 meters looking forward 0.000000 meters along route # Maximum depth: 1603.777840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.777840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730654; longitude = -122.706564; captureRadius = 10; duration = 204; initialDepth = 1520.331266; finalDepth = 1528.777840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.77784 # Seafloor depth: -1603.777840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.001731 meters # Minimum depth: 1595.331266 meters looking forward 0.000000 meters along route # Maximum depth: 1595.331266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1520.331266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731406; longitude = -122.705911; captureRadius = 10; duration = 212; initialDepth = 1563.838456; finalDepth = 1520.331266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1520.331266 # Seafloor depth: -1595.331266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.592072 meters # Minimum depth: 1638.838456 meters looking forward 0.000000 meters along route # Maximum depth: 1638.838456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1563.838456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732186; longitude = -122.705234; captureRadius = 10; duration = 203; initialDepth = 1580.405463; finalDepth = 1563.838456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1563.838456 # Seafloor depth: -1638.838456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.585459 meters # Minimum depth: 1655.405463 meters looking forward 0.000000 meters along route # Maximum depth: 1655.405463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1580.405463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732934; longitude = -122.704585; captureRadius = 10; duration = 213; initialDepth = 1573.089245; finalDepth = 1580.405463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1580.405463 # Seafloor depth: -1655.405463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.007074 meters # Minimum depth: 1648.089245 meters looking forward 0.000000 meters along route # Maximum depth: 1648.089245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.089245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733718; longitude = -122.703904; captureRadius = 10; duration = 202; initialDepth = 1561.422009; finalDepth = 1573.089245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1573.089245 # Seafloor depth: -1648.089245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.169179 meters # Minimum depth: 1636.422009 meters looking forward 0.000000 meters along route # Maximum depth: 1636.422009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1561.422009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734462; longitude = -122.703259; captureRadius = 10; duration = 214; initialDepth = 1562.005113; finalDepth = 1561.422009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1561.422009 # Seafloor depth: -1636.422009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.422082 meters # Minimum depth: 1637.005113 meters looking forward 0.000000 meters along route # Maximum depth: 1637.005113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.005113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735251; longitude = -122.702575; captureRadius = 10; duration = 200; initialDepth = 1566.633343; finalDepth = 1562.005113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1562.005113 # Seafloor depth: -1637.005113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.795154 meters # Minimum depth: 1641.633343 meters looking forward 0.000000 meters along route # Maximum depth: 1641.633343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1566.633343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735990; longitude = -122.701933; captureRadius = 10; duration = 207; initialDepth = 1587.870143; finalDepth = 1566.633343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1566.633343 # Seafloor depth: -1641.633343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.794836 meters # Minimum depth: 1662.870143 meters looking forward 0.000000 meters along route # Maximum depth: 1662.870143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1587.870143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736754; longitude = -122.701271; captureRadius = 10; duration = 207; initialDepth = 1602.468481; finalDepth = 1587.870143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1587.870143 # Seafloor depth: -1662.870143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.794518 meters # Minimum depth: 1677.468481 meters looking forward 0.000000 meters along route # Maximum depth: 1677.468481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.468481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737518; longitude = -122.700608; captureRadius = 10; duration = 207; initialDepth = 1595.225508; finalDepth = 1602.468481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.468481 # Seafloor depth: -1677.468481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.794201 meters # Minimum depth: 1670.225508 meters looking forward 0.000000 meters along route # Maximum depth: 1670.225508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.225508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738282; longitude = -122.699945; captureRadius = 10; duration = 207; initialDepth = 1643.625538; finalDepth = 1595.225508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1595.225508 # Seafloor depth: -1670.225508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.793883 meters # Minimum depth: 1719.122974 meters looking forward 0.000000 meters along route # Maximum depth: 1719.122974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1643.625538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739046; longitude = -122.699282; captureRadius = 10; duration = 207; initialDepth = 1683.380672; finalDepth = 1643.625538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4974361421459 # Actual altitude: 75.4974361421459 # Commanded vehicle depth: 1643.62553785785 # Seafloor depth: -1719.122974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.793565 meters # Minimum depth: 1758.380672 meters looking forward 0.000000 meters along route # Maximum depth: 1758.380672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1683.380672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739810; longitude = -122.698619; captureRadius = 10; duration = 207; initialDepth = 1673.994570; finalDepth = 1683.380672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4974361421459 # Actual altitude: 75.4974361421459 # Commanded vehicle depth: 1683.380672 # Seafloor depth: -1758.380672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.793248 meters # Minimum depth: 1748.994570 meters looking forward 0.000000 meters along route # Maximum depth: 1748.994570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1673.994570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740574; longitude = -122.697956; captureRadius = 10; duration = 207; initialDepth = 1663.638649; finalDepth = 1673.994570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1673.99457 # Seafloor depth: -1748.994570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.792929 meters # Minimum depth: 1738.638649 meters looking forward 0.000000 meters along route # Maximum depth: 1738.638649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1663.638649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741338; longitude = -122.697293; captureRadius = 10; duration = 207; initialDepth = 1645.971842; finalDepth = 1663.638649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1663.638649 # Seafloor depth: -1738.638649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.488626 meters # Minimum depth: 1720.971842 meters looking forward 0.000000 meters along route # Maximum depth: 1720.971842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1645.971842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742102; longitude = -122.696630; captureRadius = 10; duration = 208; initialDepth = 1632.960114; finalDepth = 1645.971842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1645.971842 # Seafloor depth: -1720.971842 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 98.408734 meters # Minimum depth: 1707.960114 meters looking forward 0.000000 meters along route # Maximum depth: 1707.960114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1632.960114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742871; longitude = -122.695963; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 1561.729140; finalDepth = 1632.960114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1632.960114 # Seafloor depth: -1707.960114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.591266 meters # Minimum depth: 1636.729140 meters looking forward 0.000000 meters along route # Maximum depth: 1636.729140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1561.729140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743384; longitude = -122.696851; captureRadius = 10; duration = 203; initialDepth = 1520.868927; finalDepth = 1561.729140; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1561.72914 # Seafloor depth: -1636.729140 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 115.898199 meters # Minimum depth: 1595.868927 meters looking forward 0.000000 meters along route # Maximum depth: 1595.868927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1520.868927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743913; longitude = -122.697768; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 1559.608456; finalDepth = 1520.868927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1520.868927 # Seafloor depth: -1595.868927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.756733 meters # Minimum depth: 1634.608456 meters looking forward 0.000000 meters along route # Maximum depth: 1634.608456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1559.608456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743060; longitude = -122.698508; captureRadius = 10; duration = 211; initialDepth = 1585.154017; finalDepth = 1559.608456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1559.608456 # Seafloor depth: -1634.608456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.832164 meters # Minimum depth: 1660.154017 meters looking forward 0.000000 meters along route # Maximum depth: 1660.154017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1585.154017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742281; longitude = -122.699184; captureRadius = 10; duration = 203; initialDepth = 1544.892267; finalDepth = 1585.154017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1585.154017 # Seafloor depth: -1660.154017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.336408 meters # Minimum depth: 1619.892267 meters looking forward 0.000000 meters along route # Maximum depth: 1619.892267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1544.892267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741532; longitude = -122.699834; captureRadius = 10; duration = 212; initialDepth = 1567.559714; finalDepth = 1544.892267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1544.892267 # Seafloor depth: -1619.892267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.253761 meters # Minimum depth: 1642.559714 meters looking forward 0.000000 meters along route # Maximum depth: 1642.559714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.559714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740749; longitude = -122.700513; captureRadius = 10; duration = 202; initialDepth = 1542.017855; finalDepth = 1567.559714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.559714 # Seafloor depth: -1642.559714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.916090 meters # Minimum depth: 1617.017855 meters looking forward 0.000000 meters along route # Maximum depth: 1617.017855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1542.017855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740004; longitude = -122.701160; captureRadius = 10; duration = 213; initialDepth = 1515.849283; finalDepth = 1542.017855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1542.017855 # Seafloor depth: -1617.017855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.675350 meters # Minimum depth: 1590.849283 meters looking forward 0.000000 meters along route # Maximum depth: 1590.849283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.849283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739217; longitude = -122.701843; captureRadius = 10; duration = 201; initialDepth = 1516.461752; finalDepth = 1515.849283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.849283 # Seafloor depth: -1590.849283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.495778 meters # Minimum depth: 1591.461752 meters looking forward 0.000000 meters along route # Maximum depth: 1591.461752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1516.461752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738476; longitude = -122.702486; captureRadius = 10; duration = 214; initialDepth = 1479.340538; finalDepth = 1516.461752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1516.461752 # Seafloor depth: -1591.461752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.096933 meters # Minimum depth: 1554.340538 meters looking forward 0.000000 meters along route # Maximum depth: 1554.340538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1479.340538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737684; longitude = -122.703172; captureRadius = 10; duration = 200; initialDepth = 1461.353046; finalDepth = 1479.340538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1479.340538 # Seafloor depth: -1554.340538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.796832 meters # Minimum depth: 1536.353046 meters looking forward 0.000000 meters along route # Maximum depth: 1536.353046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1461.353046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736948; longitude = -122.703812; captureRadius = 10; duration = 207; initialDepth = 1444.154879; finalDepth = 1461.353046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1461.353046 # Seafloor depth: -1536.353046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.797150 meters # Minimum depth: 1519.154879 meters looking forward 0.000000 meters along route # Maximum depth: 1519.154879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1444.154879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736184; longitude = -122.704475; captureRadius = 10; duration = 207; initialDepth = 1436.710418; finalDepth = 1444.154879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1444.154879 # Seafloor depth: -1519.154879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.797468 meters # Minimum depth: 1511.710418 meters looking forward 0.000000 meters along route # Maximum depth: 1511.710418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1436.710418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735420; longitude = -122.705138; captureRadius = 10; duration = 207; initialDepth = 1481.068050; finalDepth = 1436.710418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1436.710418 # Seafloor depth: -1511.710418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.797785 meters # Minimum depth: 1556.068050 meters looking forward 0.000000 meters along route # Maximum depth: 1556.068050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1481.068050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734656; longitude = -122.705800; captureRadius = 10; duration = 207; initialDepth = 1465.476407; finalDepth = 1481.068050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1481.06805 # Seafloor depth: -1556.068050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.798104 meters # Minimum depth: 1540.476407 meters looking forward 0.000000 meters along route # Maximum depth: 1540.476407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1465.476407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733892; longitude = -122.706463; captureRadius = 10; duration = 207; initialDepth = 1432.611549; finalDepth = 1465.476407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1465.476407 # Seafloor depth: -1540.476407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.798421 meters # Minimum depth: 1507.611549 meters looking forward 0.000000 meters along route # Maximum depth: 1507.611549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1432.611549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733128; longitude = -122.707126; captureRadius = 10; duration = 207; initialDepth = 1433.716415; finalDepth = 1432.611549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1432.611549 # Seafloor depth: -1507.611549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.798739 meters # Minimum depth: 1508.716415 meters looking forward 0.000000 meters along route # Maximum depth: 1508.716415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.716415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732364; longitude = -122.707789; captureRadius = 10; duration = 207; initialDepth = 1482.118561; finalDepth = 1433.716415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1433.716415 # Seafloor depth: -1508.716415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.981598 meters # Minimum depth: 1572.033290 meters looking forward 0.000000 meters along route # Maximum depth: 1572.033290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1482.118561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731600; longitude = -122.708452; captureRadius = 10; duration = 207; initialDepth = 1530.605975; finalDepth = 1482.118561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9147290380336 # Actual altitude: 89.9147290380336 # Commanded vehicle depth: 1482.11856096197 # Seafloor depth: -1572.033290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.616834 meters # Minimum depth: 1608.873044 meters looking forward 0.000000 meters along route # Maximum depth: 1608.873044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.605975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730834; longitude = -122.709116; captureRadius = 10; duration = 207; initialDepth = 1489.356767; finalDepth = 1530.605975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9147290380336 # Actual altitude: 89.9147290380336 # Commanded vehicle depth: 1530.60597547434 # Seafloor depth: -1608.873044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.561288 meters # Minimum depth: 1564.356767 meters looking forward 0.000000 meters along route # Maximum depth: 1564.356767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1489.356767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730071; longitude = -122.709778; captureRadius = 10; duration = 209; initialDepth = 1422.372786; finalDepth = 1489.356767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.2670685256646 # Actual altitude: 78.2670685256646 # Commanded vehicle depth: 1489.356767 # Seafloor depth: -1564.356767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 313.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.038415 meters # Minimum depth: 1497.372786 meters looking forward 0.000000 meters along route # Maximum depth: 1497.372786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.372786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729302; longitude = -122.710446; captureRadius = 10; duration = 206; initialDepth = 1410.159879; finalDepth = 1422.372786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1422.372786 # Seafloor depth: -1497.372786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.140985 meters # Minimum depth: 1485.159879 meters looking forward 0.000000 meters along route # Maximum depth: 1485.159879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.159879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728543; longitude = -122.711104; captureRadius = 10; duration = 210; initialDepth = 1439.508778; finalDepth = 1410.159879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1410.159879 # Seafloor depth: -1485.159879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.459990 meters # Minimum depth: 1514.508778 meters looking forward 0.000000 meters along route # Maximum depth: 1514.508778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1439.508778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727770; longitude = -122.711775; captureRadius = 10; duration = 204; initialDepth = 1485.987654; finalDepth = 1439.508778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1439.508778 # Seafloor depth: -1514.508778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.720690 meters # Minimum depth: 1560.987654 meters looking forward 0.000000 meters along route # Maximum depth: 1560.987654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1485.987654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727015; longitude = -122.712430; captureRadius = 10; duration = 211; initialDepth = 1502.481171; finalDepth = 1485.987654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1485.987654 # Seafloor depth: -1560.987654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.881556 meters # Minimum depth: 1577.481171 meters looking forward 0.000000 meters along route # Maximum depth: 1577.481171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.481171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726237; longitude = -122.713105; captureRadius = 10; duration = 203; initialDepth = 1498.079202; finalDepth = 1502.481171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1502.481171 # Seafloor depth: -1577.481171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.300401 meters # Minimum depth: 1573.079202 meters looking forward 0.000000 meters along route # Maximum depth: 1573.079202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1498.079202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725487; longitude = -122.713755; captureRadius = 10; duration = 212; initialDepth = 1490.769668; finalDepth = 1498.079202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1498.079202 # Seafloor depth: -1573.079202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.303117 meters # Minimum depth: 1565.769668 meters looking forward 0.000000 meters along route # Maximum depth: 1565.769668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.769668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724705; longitude = -122.714434; captureRadius = 10; duration = 202; initialDepth = 1480.360668; finalDepth = 1490.769668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1490.769668 # Seafloor depth: -1565.769668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.880120 meters # Minimum depth: 1555.360668 meters looking forward 0.000000 meters along route # Maximum depth: 1555.360668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1480.360668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723959; longitude = -122.715081; captureRadius = 10; duration = 213; initialDepth = 1468.430331; finalDepth = 1480.360668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1480.360668 # Seafloor depth: -1555.360668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.724669 meters # Minimum depth: 1543.430331 meters looking forward 0.000000 meters along route # Maximum depth: 1543.430331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1468.430331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723173; longitude = -122.715764; captureRadius = 10; duration = 201; initialDepth = 1462.381462; finalDepth = 1468.430331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1468.430331 # Seafloor depth: -1543.430331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.459846 meters # Minimum depth: 1537.381462 meters looking forward 0.000000 meters along route # Maximum depth: 1537.381462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.381462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722431; longitude = -122.716407; captureRadius = 10; duration = 214; initialDepth = 1455.571461; finalDepth = 1462.381462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.381462 # Seafloor depth: -1537.381462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.146215 meters # Minimum depth: 1530.571461 meters looking forward 0.000000 meters along route # Maximum depth: 1530.571461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1455.571461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721640; longitude = -122.717093; captureRadius = 10; duration = 200; initialDepth = 1438.196239; finalDepth = 1455.571461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1455.571461 # Seafloor depth: -1530.571461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.803507 meters # Minimum depth: 1513.196239 meters looking forward 0.000000 meters along route # Maximum depth: 1513.196239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1438.196239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720903; longitude = -122.717733; captureRadius = 10; duration = 207; initialDepth = 1427.845992; finalDepth = 1438.196239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1438.196239 # Seafloor depth: -1513.196239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.803826 meters # Minimum depth: 1502.845992 meters looking forward 0.000000 meters along route # Maximum depth: 1502.845992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1427.845992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720139; longitude = -122.718396; captureRadius = 10; duration = 207; initialDepth = 1443.423857; finalDepth = 1427.845992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1427.845992 # Seafloor depth: -1502.845992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.804143 meters # Minimum depth: 1518.423857 meters looking forward 0.000000 meters along route # Maximum depth: 1518.423857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.423857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719375; longitude = -122.719059; captureRadius = 10; duration = 207; initialDepth = 1457.691009; finalDepth = 1443.423857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1443.423857 # Seafloor depth: -1518.423857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.804461 meters # Minimum depth: 1532.691009 meters looking forward 0.000000 meters along route # Maximum depth: 1532.691009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1457.691009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718611; longitude = -122.719722; captureRadius = 10; duration = 207; initialDepth = 1444.831978; finalDepth = 1457.691009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1457.691009 # Seafloor depth: -1532.691009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.804779 meters # Minimum depth: 1519.831978 meters looking forward 0.000000 meters along route # Maximum depth: 1519.831978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1444.831978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717847; longitude = -122.720384; captureRadius = 10; duration = 207; initialDepth = 1423.112967; finalDepth = 1444.831978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1444.831978 # Seafloor depth: -1519.831978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.805097 meters # Minimum depth: 1498.112967 meters looking forward 0.000000 meters along route # Maximum depth: 1498.112967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.112967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717083; longitude = -122.721047; captureRadius = 10; duration = 207; initialDepth = 1415.502270; finalDepth = 1423.112967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1423.112967 # Seafloor depth: -1498.112967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.805415 meters # Minimum depth: 1490.502270 meters looking forward 0.000000 meters along route # Maximum depth: 1490.502270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1415.502270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716319; longitude = -122.721710; captureRadius = 10; duration = 207; initialDepth = 1445.929223; finalDepth = 1415.502270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1415.50227 # Seafloor depth: -1490.502270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.945438 meters # Minimum depth: 1520.929223 meters looking forward 0.000000 meters along route # Maximum depth: 1520.929223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1445.929223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715555; longitude = -122.722373; captureRadius = 10; duration = 207; initialDepth = 1480.840298; finalDepth = 1445.929223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1445.929223 # Seafloor depth: -1520.929223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.666345 meters # Minimum depth: 1555.840298 meters looking forward 0.000000 meters along route # Maximum depth: 1555.840298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1480.840298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714790; longitude = -122.723037; captureRadius = 10; duration = 207; initialDepth = 1512.400188; finalDepth = 1480.840298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1480.840298 # Seafloor depth: -1555.840298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.525166 meters # Minimum depth: 1587.400188 meters looking forward 0.000000 meters along route # Maximum depth: 1587.400188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.400188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714027; longitude = -122.723699; captureRadius = 10; duration = 209; initialDepth = 1540.345105; finalDepth = 1512.400188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1512.400188 # Seafloor depth: -1587.400188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.087890 meters # Minimum depth: 1615.345105 meters looking forward 0.000000 meters along route # Maximum depth: 1615.345105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1540.345105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713258; longitude = -122.724367; captureRadius = 10; duration = 206; initialDepth = 1524.114388; finalDepth = 1540.345105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1540.345105 # Seafloor depth: -1615.345105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.104900 meters # Minimum depth: 1599.114388 meters looking forward 0.000000 meters along route # Maximum depth: 1599.114388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1524.114388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712499; longitude = -122.725025; captureRadius = 10; duration = 210; initialDepth = 1505.282439; finalDepth = 1524.114388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1524.114388 # Seafloor depth: -1599.114388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.509427 meters # Minimum depth: 1580.282439 meters looking forward 0.000000 meters along route # Maximum depth: 1580.282439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1505.282439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711726; longitude = -122.725696; captureRadius = 10; duration = 205; initialDepth = 1480.311575; finalDepth = 1505.282439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1505.282439 # Seafloor depth: -1580.282439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.684642 meters # Minimum depth: 1555.311575 meters looking forward 0.000000 meters along route # Maximum depth: 1555.311575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1480.311575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710971; longitude = -122.726351; captureRadius = 10; duration = 211; initialDepth = 1442.195105; finalDepth = 1480.311575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1480.311575 # Seafloor depth: -1555.311575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.930958 meters # Minimum depth: 1517.195105 meters looking forward 0.000000 meters along route # Maximum depth: 1517.195105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.195105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710193; longitude = -122.727026; captureRadius = 10; duration = 203; initialDepth = 1446.183048; finalDepth = 1442.195105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.195105 # Seafloor depth: -1517.195105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.264390 meters # Minimum depth: 1521.183048 meters looking forward 0.000000 meters along route # Maximum depth: 1521.183048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1446.183048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709443; longitude = -122.727676; captureRadius = 10; duration = 212; initialDepth = 1463.791153; finalDepth = 1446.183048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1446.183048 # Seafloor depth: -1521.183048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.352481 meters # Minimum depth: 1538.791153 meters looking forward 0.000000 meters along route # Maximum depth: 1538.791153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1463.791153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708661; longitude = -122.728355; captureRadius = 10; duration = 202; initialDepth = 1483.190633; finalDepth = 1463.791153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1463.791153 # Seafloor depth: -1538.791153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.844147 meters # Minimum depth: 1558.190633 meters looking forward 0.000000 meters along route # Maximum depth: 1558.190633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1483.190633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707915; longitude = -122.729002; captureRadius = 10; duration = 213; initialDepth = 1515.052754; finalDepth = 1483.190633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1483.190633 # Seafloor depth: -1558.190633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.773996 meters # Minimum depth: 1590.052754 meters looking forward 0.000000 meters along route # Maximum depth: 1590.052754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.052754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707129; longitude = -122.729685; captureRadius = 10; duration = 201; initialDepth = 1562.044439; finalDepth = 1515.052754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.052754 # Seafloor depth: -1590.052754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.423910 meters # Minimum depth: 1641.005723 meters looking forward 0.000000 meters along route # Maximum depth: 1641.005723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.044439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706387; longitude = -122.730328; captureRadius = 10; duration = 214; initialDepth = 1572.826733; finalDepth = 1562.044439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9612838354765 # Actual altitude: 78.9612838354765 # Commanded vehicle depth: 1562.04443916452 # Seafloor depth: -1641.005723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.195505 meters # Minimum depth: 1647.826733 meters looking forward 0.000000 meters along route # Maximum depth: 1647.826733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.826733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705597; longitude = -122.731014; captureRadius = 10; duration = 200; initialDepth = 1562.771849; finalDepth = 1572.826733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9612838354765 # Actual altitude: 78.9612838354765 # Commanded vehicle depth: 1572.826733 # Seafloor depth: -1647.826733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 315.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.810185 meters # Minimum depth: 1637.771849 meters looking forward 0.000000 meters along route # Maximum depth: 1637.771849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.771849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704859; longitude = -122.731654; captureRadius = 10; duration = 207; initialDepth = 1534.526754; finalDepth = 1562.771849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1562.771849 # Seafloor depth: -1637.771849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.810503 meters # Minimum depth: 1609.526754 meters looking forward 0.000000 meters along route # Maximum depth: 1609.526754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1534.526754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704095; longitude = -122.732317; captureRadius = 10; duration = 207; initialDepth = 1525.725972; finalDepth = 1534.526754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1534.526754 # Seafloor depth: -1609.526754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.810820 meters # Minimum depth: 1600.725972 meters looking forward 0.000000 meters along route # Maximum depth: 1600.725972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1525.725972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703331; longitude = -122.732980; captureRadius = 10; duration = 207; initialDepth = 1522.906849; finalDepth = 1525.725972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1525.725972 # Seafloor depth: -1600.725972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.811139 meters # Minimum depth: 1597.906849 meters looking forward 0.000000 meters along route # Maximum depth: 1597.906849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1522.906849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702567; longitude = -122.733643; captureRadius = 10; duration = 207; initialDepth = 1532.030434; finalDepth = 1522.906849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1522.906849 # Seafloor depth: -1597.906849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.537639 meters # Minimum depth: 1607.030434 meters looking forward 0.000000 meters along route # Maximum depth: 1607.030434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1532.030434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701803; longitude = -122.734306; captureRadius = 10; duration = 207; initialDepth = 1553.825470; finalDepth = 1532.030434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1532.030434 # Seafloor depth: -1607.030434 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 98.133252 meters # Minimum depth: 1628.825470 meters looking forward 0.000000 meters along route # Maximum depth: 1628.825470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1553.825470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701041; longitude = -122.734967; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 1504.098746; finalDepth = 1553.825470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1553.82547 # Seafloor depth: -1628.825470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.866748 meters # Minimum depth: 1579.098746 meters looking forward 0.000000 meters along route # Maximum depth: 1579.098746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1504.098746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701552; longitude = -122.735852; captureRadius = 10; duration = 203; initialDepth = 1463.817291; finalDepth = 1504.098746; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1504.098746 # Seafloor depth: -1579.098746 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 110.080860 meters # Minimum depth: 1538.817291 meters looking forward 0.000000 meters along route # Maximum depth: 1538.817291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1463.817291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702082; longitude = -122.736772; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 1425.401720; finalDepth = 1463.817291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1463.817291 # Seafloor depth: -1538.817291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 103.095327 meters # Minimum depth: 1500.401720 meters looking forward 0.000000 meters along route # Maximum depth: 1500.401720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1425.401720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702892; longitude = -122.736069; captureRadius = 10; duration = 206; initialDepth = 1414.875338; finalDepth = 1425.401720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1425.40172 # Seafloor depth: -1500.401720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.103022 meters # Minimum depth: 1489.875338 meters looking forward 0.000000 meters along route # Maximum depth: 1489.875338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1414.875338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703651; longitude = -122.735410; captureRadius = 10; duration = 210; initialDepth = 1422.414294; finalDepth = 1414.875338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1414.875338 # Seafloor depth: -1489.875338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.520920 meters # Minimum depth: 1497.414294 meters looking forward 0.000000 meters along route # Maximum depth: 1497.414294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.414294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704425; longitude = -122.734739; captureRadius = 10; duration = 205; initialDepth = 1455.534192; finalDepth = 1422.414294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1422.414294 # Seafloor depth: -1497.414294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.676151 meters # Minimum depth: 1530.534192 meters looking forward 0.000000 meters along route # Maximum depth: 1530.534192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1455.534192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705179; longitude = -122.734085; captureRadius = 10; duration = 211; initialDepth = 1485.824961; finalDepth = 1455.534192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1455.534192 # Seafloor depth: -1530.534192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.946519 meters # Minimum depth: 1560.824961 meters looking forward 0.000000 meters along route # Maximum depth: 1560.824961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1485.824961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705957; longitude = -122.733410; captureRadius = 10; duration = 203; initialDepth = 1515.442551; finalDepth = 1485.824961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1485.824961 # Seafloor depth: -1560.824961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.249272 meters # Minimum depth: 1590.442551 meters looking forward 0.000000 meters along route # Maximum depth: 1590.442551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.442551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706707; longitude = -122.732759; captureRadius = 10; duration = 212; initialDepth = 1564.987399; finalDepth = 1515.442551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.442551 # Seafloor depth: -1590.442551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.372126 meters # Minimum depth: 1641.805995 meters looking forward 0.000000 meters along route # Maximum depth: 1641.805995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1564.987399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707489; longitude = -122.732080; captureRadius = 10; duration = 202; initialDepth = 1531.773383; finalDepth = 1564.987399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8185957557794 # Actual altitude: 76.8185957557794 # Commanded vehicle depth: 1564.98739924422 # Seafloor depth: -1641.805995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.822386 meters # Minimum depth: 1606.773383 meters looking forward 0.000000 meters along route # Maximum depth: 1606.773383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1531.773383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708235; longitude = -122.731433; captureRadius = 10; duration = 213; initialDepth = 1485.603464; finalDepth = 1531.773383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8185957557794 # Actual altitude: 76.8185957557794 # Commanded vehicle depth: 1531.773383 # Seafloor depth: -1606.773383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.797739 meters # Minimum depth: 1560.603464 meters looking forward 0.000000 meters along route # Maximum depth: 1560.603464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1485.603464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709022; longitude = -122.730751; captureRadius = 10; duration = 201; initialDepth = 1491.021246; finalDepth = 1485.603464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1485.603464 # Seafloor depth: -1560.603464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.395494 meters # Minimum depth: 1566.021246 meters looking forward 0.000000 meters along route # Maximum depth: 1566.021246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1491.021246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709763; longitude = -122.730107; captureRadius = 10; duration = 214; initialDepth = 1464.065342; finalDepth = 1491.021246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1491.021246 # Seafloor depth: -1566.021246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.223359 meters # Minimum depth: 1539.065342 meters looking forward 0.000000 meters along route # Maximum depth: 1539.065342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1464.065342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710554; longitude = -122.729421; captureRadius = 10; duration = 200; initialDepth = 1460.282859; finalDepth = 1464.065342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1464.065342 # Seafloor depth: -1539.065342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.808950 meters # Minimum depth: 1535.282859 meters looking forward 0.000000 meters along route # Maximum depth: 1535.282859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1460.282859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711292; longitude = -122.728781; captureRadius = 10; duration = 207; initialDepth = 1446.735920; finalDepth = 1460.282859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1460.282859 # Seafloor depth: -1535.282859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.808632 meters # Minimum depth: 1521.735920 meters looking forward 0.000000 meters along route # Maximum depth: 1521.735920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1446.735920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712056; longitude = -122.728118; captureRadius = 10; duration = 207; initialDepth = 1468.889120; finalDepth = 1446.735920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1446.73592 # Seafloor depth: -1521.735920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.808313 meters # Minimum depth: 1543.889120 meters looking forward 0.000000 meters along route # Maximum depth: 1543.889120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1468.889120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712820; longitude = -122.727456; captureRadius = 10; duration = 207; initialDepth = 1464.229763; finalDepth = 1468.889120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1468.88912 # Seafloor depth: -1543.889120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.807996 meters # Minimum depth: 1539.229763 meters looking forward 0.000000 meters along route # Maximum depth: 1539.229763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1464.229763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713584; longitude = -122.726793; captureRadius = 10; duration = 207; initialDepth = 1422.550742; finalDepth = 1464.229763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1464.229763 # Seafloor depth: -1539.229763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.807677 meters # Minimum depth: 1497.550742 meters looking forward 0.000000 meters along route # Maximum depth: 1497.550742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.550742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714348; longitude = -122.726130; captureRadius = 10; duration = 207; initialDepth = 1380.953114; finalDepth = 1422.550742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1422.550742 # Seafloor depth: -1497.550742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.807360 meters # Minimum depth: 1455.953114 meters looking forward 0.000000 meters along route # Maximum depth: 1455.953114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1380.953114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715112; longitude = -122.725467; captureRadius = 10; duration = 207; initialDepth = 1360.060381; finalDepth = 1380.953114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1380.953114 # Seafloor depth: -1455.953114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.807042 meters # Minimum depth: 1435.060381 meters looking forward 0.000000 meters along route # Maximum depth: 1435.060381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1360.060381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715876; longitude = -122.724804; captureRadius = 10; duration = 207; initialDepth = 1336.447943; finalDepth = 1360.060381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1360.060381 # Seafloor depth: -1435.060381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.851247 meters # Minimum depth: 1411.447943 meters looking forward 0.000000 meters along route # Maximum depth: 1411.447943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1336.447943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716640; longitude = -122.724141; captureRadius = 10; duration = 207; initialDepth = 1313.355220; finalDepth = 1336.447943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1336.447943 # Seafloor depth: -1411.447943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.761882 meters # Minimum depth: 1388.355220 meters looking forward 0.000000 meters along route # Maximum depth: 1388.355220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1313.355220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717404; longitude = -122.723478; captureRadius = 10; duration = 207; initialDepth = 1302.968624; finalDepth = 1313.355220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1313.35522 # Seafloor depth: -1388.355220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.424354 meters # Minimum depth: 1377.968624 meters looking forward 0.000000 meters along route # Maximum depth: 1377.968624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1302.968624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718168; longitude = -122.722815; captureRadius = 10; duration = 208; initialDepth = 1321.204878; finalDepth = 1302.968624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1302.968624 # Seafloor depth: -1377.968624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.187503 meters # Minimum depth: 1396.204878 meters looking forward 0.000000 meters along route # Maximum depth: 1396.204878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1321.204878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718936; longitude = -122.722148; captureRadius = 10; duration = 206; initialDepth = 1339.781588; finalDepth = 1321.204878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1321.204878 # Seafloor depth: -1396.204878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.997453 meters # Minimum depth: 1414.781588 meters looking forward 0.000000 meters along route # Maximum depth: 1414.781588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1339.781588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719696; longitude = -122.721489; captureRadius = 10; duration = 209; initialDepth = 1351.421094; finalDepth = 1339.781588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1339.781588 # Seafloor depth: -1414.781588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.613133 meters # Minimum depth: 1426.421094 meters looking forward 0.000000 meters along route # Maximum depth: 1426.421094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1351.421094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720469; longitude = -122.720819; captureRadius = 10; duration = 205; initialDepth = 1333.334451; finalDepth = 1351.421094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1351.421094 # Seafloor depth: -1426.421094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.570545 meters # Minimum depth: 1408.334451 meters looking forward 0.000000 meters along route # Maximum depth: 1408.334451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1333.334451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721224; longitude = -122.720164; captureRadius = 10; duration = 211; initialDepth = 1355.684542; finalDepth = 1333.334451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1333.334451 # Seafloor depth: -1408.334451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.038769 meters # Minimum depth: 1430.684542 meters looking forward 0.000000 meters along route # Maximum depth: 1430.684542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1355.684542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722001; longitude = -122.719489; captureRadius = 10; duration = 204; initialDepth = 1392.853915; finalDepth = 1355.684542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1355.684542 # Seafloor depth: -1430.684542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.143631 meters # Minimum depth: 1467.853915 meters looking forward 0.000000 meters along route # Maximum depth: 1467.853915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1392.853915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722752; longitude = -122.718838; captureRadius = 10; duration = 212; initialDepth = 1393.339406; finalDepth = 1392.853915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1392.853915 # Seafloor depth: -1467.853915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.464411 meters # Minimum depth: 1468.339406 meters looking forward 0.000000 meters along route # Maximum depth: 1468.339406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1393.339406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723533; longitude = -122.718160; captureRadius = 10; duration = 202; initialDepth = 1398.383369; finalDepth = 1393.339406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1393.339406 # Seafloor depth: -1468.339406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.716709 meters # Minimum depth: 1473.383369 meters looking forward 0.000000 meters along route # Maximum depth: 1473.383369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1398.383369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724280; longitude = -122.717512; captureRadius = 10; duration = 213; initialDepth = 1423.056581; finalDepth = 1398.383369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1398.383369 # Seafloor depth: -1473.383369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.890061 meters # Minimum depth: 1498.056581 meters looking forward 0.000000 meters along route # Maximum depth: 1498.056581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.056581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725066; longitude = -122.716830; captureRadius = 10; duration = 201; initialDepth = 1452.065898; finalDepth = 1423.056581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1423.056581 # Seafloor depth: -1498.056581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.289780 meters # Minimum depth: 1527.065898 meters looking forward 0.000000 meters along route # Maximum depth: 1527.065898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1452.065898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725808; longitude = -122.716186; captureRadius = 10; duration = 214; initialDepth = 1461.303307; finalDepth = 1452.065898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1452.065898 # Seafloor depth: -1527.065898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.315719 meters # Minimum depth: 1536.303307 meters looking forward 0.000000 meters along route # Maximum depth: 1536.303307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1461.303307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726598; longitude = -122.715501; captureRadius = 10; duration = 200; initialDepth = 1480.260594; finalDepth = 1461.303307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1461.303307 # Seafloor depth: -1536.303307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.802272 meters # Minimum depth: 1555.260594 meters looking forward 0.000000 meters along route # Maximum depth: 1555.260594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1480.260594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727336; longitude = -122.714860; captureRadius = 10; duration = 207; initialDepth = 1518.028542; finalDepth = 1480.260594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1480.260594 # Seafloor depth: -1555.260594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.801955 meters # Minimum depth: 1593.028542 meters looking forward 0.000000 meters along route # Maximum depth: 1593.028542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.028542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728100; longitude = -122.714197; captureRadius = 10; duration = 207; initialDepth = 1509.724329; finalDepth = 1518.028542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1518.028542 # Seafloor depth: -1593.028542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.801636 meters # Minimum depth: 1584.724329 meters looking forward 0.000000 meters along route # Maximum depth: 1584.724329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.724329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728864; longitude = -122.713534; captureRadius = 10; duration = 207; initialDepth = 1462.643898; finalDepth = 1509.724329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1509.724329 # Seafloor depth: -1584.724329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.801319 meters # Minimum depth: 1537.643898 meters looking forward 0.000000 meters along route # Maximum depth: 1537.643898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.643898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729628; longitude = -122.712872; captureRadius = 10; duration = 207; initialDepth = 1457.520369; finalDepth = 1462.643898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.643898 # Seafloor depth: -1537.643898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.801001 meters # Minimum depth: 1532.520369 meters looking forward 0.000000 meters along route # Maximum depth: 1532.520369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1457.520369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730392; longitude = -122.712209; captureRadius = 10; duration = 207; initialDepth = 1464.131625; finalDepth = 1457.520369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1457.520369 # Seafloor depth: -1532.520369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.800683 meters # Minimum depth: 1539.131625 meters looking forward 0.000000 meters along route # Maximum depth: 1539.131625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1464.131625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731156; longitude = -122.711546; captureRadius = 10; duration = 207; initialDepth = 1486.052036; finalDepth = 1464.131625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1464.131625 # Seafloor depth: -1539.131625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.800365 meters # Minimum depth: 1561.052036 meters looking forward 0.000000 meters along route # Maximum depth: 1561.052036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.052036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731920; longitude = -122.710883; captureRadius = 10; duration = 207; initialDepth = 1528.268834; finalDepth = 1486.052036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1486.052036 # Seafloor depth: -1561.052036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.800047 meters # Minimum depth: 1603.268834 meters looking forward 0.000000 meters along route # Maximum depth: 1603.268834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.268834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732684; longitude = -122.710220; captureRadius = 10; duration = 207; initialDepth = 1516.642683; finalDepth = 1528.268834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.268834 # Seafloor depth: -1603.268834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.799730 meters # Minimum depth: 1591.642683 meters looking forward 0.000000 meters along route # Maximum depth: 1591.642683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1516.642683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733448; longitude = -122.709557; captureRadius = 10; duration = 207; initialDepth = 1482.994648; finalDepth = 1516.642683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1516.642683 # Seafloor depth: -1591.642683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.318835 meters # Minimum depth: 1557.994648 meters looking forward 0.000000 meters along route # Maximum depth: 1557.994648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1482.994648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734212; longitude = -122.708894; captureRadius = 10; duration = 208; initialDepth = 1454.444899; finalDepth = 1482.994648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1482.994648 # Seafloor depth: -1557.994648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.279670 meters # Minimum depth: 1529.444899 meters looking forward 0.000000 meters along route # Maximum depth: 1529.444899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1454.444899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734980; longitude = -122.708228; captureRadius = 10; duration = 206; initialDepth = 1429.847980; finalDepth = 1454.444899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1454.444899 # Seafloor depth: -1529.444899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.891899 meters # Minimum depth: 1504.847980 meters looking forward 0.000000 meters along route # Maximum depth: 1504.847980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1429.847980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735741; longitude = -122.707568; captureRadius = 10; duration = 209; initialDepth = 1412.283324; finalDepth = 1429.847980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1429.84798 # Seafloor depth: -1504.847980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.705334 meters # Minimum depth: 1487.283324 meters looking forward 0.000000 meters along route # Maximum depth: 1487.283324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.283324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736513; longitude = -122.706898; captureRadius = 10; duration = 205; initialDepth = 1396.495569; finalDepth = 1412.283324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1412.283324 # Seafloor depth: -1487.283324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.464956 meters # Minimum depth: 1471.495569 meters looking forward 0.000000 meters along route # Maximum depth: 1471.495569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1396.495569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737269; longitude = -122.706242; captureRadius = 10; duration = 210; initialDepth = 1384.167849; finalDepth = 1396.495569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1396.495569 # Seafloor depth: -1471.495569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.131007 meters # Minimum depth: 1459.167849 meters looking forward 0.000000 meters along route # Maximum depth: 1459.167849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1384.167849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738045; longitude = -122.705569; captureRadius = 10; duration = 204; initialDepth = 1419.239999; finalDepth = 1384.167849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1384.167849 # Seafloor depth: -1459.167849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.038004 meters # Minimum depth: 1494.239999 meters looking forward 0.000000 meters along route # Maximum depth: 1494.239999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.239999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738797; longitude = -122.704917; captureRadius = 10; duration = 212; initialDepth = 1444.485019; finalDepth = 1419.239999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1419.239999 # Seafloor depth: -1494.239999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.556687 meters # Minimum depth: 1519.485019 meters looking forward 0.000000 meters along route # Maximum depth: 1519.485019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1444.485019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739577; longitude = -122.704239; captureRadius = 10; duration = 203; initialDepth = 1460.471059; finalDepth = 1444.485019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1444.485019 # Seafloor depth: -1519.485019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.611046 meters # Minimum depth: 1535.471059 meters looking forward 0.000000 meters along route # Maximum depth: 1535.471059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1460.471059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740325; longitude = -122.703591; captureRadius = 10; duration = 213; initialDepth = 1494.650241; finalDepth = 1460.471059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1460.471059 # Seafloor depth: -1535.471059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.982373 meters # Minimum depth: 1569.650241 meters looking forward 0.000000 meters along route # Maximum depth: 1569.650241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1494.650241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741109; longitude = -122.702910; captureRadius = 10; duration = 201; initialDepth = 1530.194256; finalDepth = 1494.650241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1494.650241 # Seafloor depth: -1569.650241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.184082 meters # Minimum depth: 1605.194256 meters looking forward 0.000000 meters along route # Maximum depth: 1605.194256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.194256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741853; longitude = -122.702265; captureRadius = 10; duration = 214; initialDepth = 1580.175013; finalDepth = 1530.194256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1530.194256 # Seafloor depth: -1605.194256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.408067 meters # Minimum depth: 1666.135384 meters looking forward 0.000000 meters along route # Maximum depth: 1666.135384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1580.175013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742642; longitude = -122.701580; captureRadius = 10; duration = 200; initialDepth = 1573.423996; finalDepth = 1580.175013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9603707023309 # Actual altitude: 85.9603707023309 # Commanded vehicle depth: 1580.17501329767 # Seafloor depth: -1666.135384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 343.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.757110 meters # Minimum depth: 1648.423996 meters looking forward 0.000000 meters along route # Maximum depth: 1648.423996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.423996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743381; longitude = -122.700939; captureRadius = 10; duration = 215; initialDepth = 1515.592913; finalDepth = 1573.423996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9603707023309 # Actual altitude: 85.9603707023309 # Commanded vehicle depth: 1573.423996 # Seafloor depth: -1648.423996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 343.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.039928 meters # Minimum depth: 1590.592913 meters looking forward 0.000000 meters along route # Maximum depth: 1590.592913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.592913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744174; longitude = -122.700251; captureRadius = 10; duration = 212; initialDepth = 1449.868866; finalDepth = 1515.592913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.592913 # Seafloor depth: -1590.592913 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 92.404763 meters # Minimum depth: 1524.868866 meters looking forward 0.000000 meters along route # Maximum depth: 1524.868866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1449.868866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744955; longitude = -122.699574; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 1454.247685; finalDepth = 1449.868866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1449.868866 # Seafloor depth: -1524.868866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.595237 meters # Minimum depth: 1529.247685 meters looking forward 0.000000 meters along route # Maximum depth: 1529.247685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1454.247685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745436; longitude = -122.700408; captureRadius = 10; duration = 215; initialDepth = 1484.625549; finalDepth = 1454.247685; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1454.247685 # Seafloor depth: -1529.247685 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 104.097151 meters # Minimum depth: 1559.625549 meters looking forward 0.000000 meters along route # Maximum depth: 1559.625549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1484.625549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745996; longitude = -122.701379; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1533.166847; finalDepth = 1484.625549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1484.625549 # Seafloor depth: -1559.625549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.734107 meters # Minimum depth: 1609.979896 meters looking forward 0.000000 meters along route # Maximum depth: 1609.979896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1533.166847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745230; longitude = -122.702044; captureRadius = 10; duration = 213; initialDepth = 1582.937777; finalDepth = 1533.166847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8130492398541 # Actual altitude: 76.8130492398541 # Commanded vehicle depth: 1533.16684676015 # Seafloor depth: -1609.979896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.860022 meters # Minimum depth: 1659.841275 meters looking forward 0.000000 meters along route # Maximum depth: 1659.841275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1582.937777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744444; longitude = -122.702726; captureRadius = 10; duration = 201; initialDepth = 1620.487970; finalDepth = 1582.937777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9034977265874 # Actual altitude: 76.9034977265874 # Commanded vehicle depth: 1582.93777727341 # Seafloor depth: -1659.841275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.303113 meters # Minimum depth: 1695.487970 meters looking forward 0.000000 meters along route # Maximum depth: 1695.487970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1620.487970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743702; longitude = -122.703370; captureRadius = 10; duration = 214; initialDepth = 1602.693417; finalDepth = 1620.487970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9034977265874 # Actual altitude: 76.9034977265874 # Commanded vehicle depth: 1620.48797 # Seafloor depth: -1695.487970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 307.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.292287 meters # Minimum depth: 1677.693417 meters looking forward 0.000000 meters along route # Maximum depth: 1677.693417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.693417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742912; longitude = -122.704055; captureRadius = 10; duration = 200; initialDepth = 1570.139182; finalDepth = 1602.693417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.693417 # Seafloor depth: -1677.693417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.798177 meters # Minimum depth: 1645.139182 meters looking forward 0.000000 meters along route # Maximum depth: 1645.139182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1570.139182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742174; longitude = -122.704696; captureRadius = 10; duration = 207; initialDepth = 1523.248010; finalDepth = 1570.139182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1570.139182 # Seafloor depth: -1645.139182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.798494 meters # Minimum depth: 1598.248010 meters looking forward 0.000000 meters along route # Maximum depth: 1598.248010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1523.248010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741410; longitude = -122.705359; captureRadius = 10; duration = 207; initialDepth = 1484.172646; finalDepth = 1523.248010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1523.24801 # Seafloor depth: -1598.248010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.798813 meters # Minimum depth: 1559.172646 meters looking forward 0.000000 meters along route # Maximum depth: 1559.172646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1484.172646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740646; longitude = -122.706021; captureRadius = 10; duration = 207; initialDepth = 1464.989113; finalDepth = 1484.172646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1484.172646 # Seafloor depth: -1559.172646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.799130 meters # Minimum depth: 1539.989113 meters looking forward 0.000000 meters along route # Maximum depth: 1539.989113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1464.989113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739882; longitude = -122.706684; captureRadius = 10; duration = 207; initialDepth = 1451.520620; finalDepth = 1464.989113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1464.989113 # Seafloor depth: -1539.989113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.799449 meters # Minimum depth: 1526.520620 meters looking forward 0.000000 meters along route # Maximum depth: 1526.520620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1451.520620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739118; longitude = -122.707347; captureRadius = 10; duration = 207; initialDepth = 1461.164390; finalDepth = 1451.520620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1451.52062 # Seafloor depth: -1526.520620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.799766 meters # Minimum depth: 1536.164390 meters looking forward 0.000000 meters along route # Maximum depth: 1536.164390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1461.164390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738354; longitude = -122.708010; captureRadius = 10; duration = 207; initialDepth = 1486.973242; finalDepth = 1461.164390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1461.16439 # Seafloor depth: -1536.164390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.800084 meters # Minimum depth: 1561.973242 meters looking forward 0.000000 meters along route # Maximum depth: 1561.973242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.973242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737590; longitude = -122.708673; captureRadius = 10; duration = 207; initialDepth = 1505.775876; finalDepth = 1486.973242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1486.973242 # Seafloor depth: -1561.973242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.800402 meters # Minimum depth: 1580.775876 meters looking forward 0.000000 meters along route # Maximum depth: 1580.775876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1505.775876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736826; longitude = -122.709336; captureRadius = 10; duration = 207; initialDepth = 1530.886906; finalDepth = 1505.775876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1505.775876 # Seafloor depth: -1580.775876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.800720 meters # Minimum depth: 1605.886906 meters looking forward 0.000000 meters along route # Maximum depth: 1605.886906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1530.886906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736062; longitude = -122.709999; captureRadius = 10; duration = 207; initialDepth = 1567.404804; finalDepth = 1530.886906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1530.886906 # Seafloor depth: -1605.886906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.310101 meters # Minimum depth: 1642.404804 meters looking forward 0.000000 meters along route # Maximum depth: 1642.404804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.404804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735297; longitude = -122.710662; captureRadius = 10; duration = 208; initialDepth = 1577.329891; finalDepth = 1567.404804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.404804 # Seafloor depth: -1642.404804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.292292 meters # Minimum depth: 1652.329891 meters looking forward 0.000000 meters along route # Maximum depth: 1652.329891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.329891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734530; longitude = -122.711328; captureRadius = 10; duration = 206; initialDepth = 1570.167792; finalDepth = 1577.329891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1577.329891 # Seafloor depth: -1652.329891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.879115 meters # Minimum depth: 1645.167792 meters looking forward 0.000000 meters along route # Maximum depth: 1645.167792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1570.167792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733769; longitude = -122.711988; captureRadius = 10; duration = 209; initialDepth = 1552.129642; finalDepth = 1570.167792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1570.167792 # Seafloor depth: -1645.167792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.724550 meters # Minimum depth: 1627.129642 meters looking forward 0.000000 meters along route # Maximum depth: 1627.129642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1552.129642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732997; longitude = -122.712657; captureRadius = 10; duration = 205; initialDepth = 1555.958785; finalDepth = 1552.129642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1552.129642 # Seafloor depth: -1627.129642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.448136 meters # Minimum depth: 1630.958785 meters looking forward 0.000000 meters along route # Maximum depth: 1630.958785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1555.958785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732241; longitude = -122.713313; captureRadius = 10; duration = 210; initialDepth = 1583.426866; finalDepth = 1555.958785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1555.958785 # Seafloor depth: -1630.958785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.156801 meters # Minimum depth: 1658.426866 meters looking forward 0.000000 meters along route # Maximum depth: 1658.426866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1583.426866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731465; longitude = -122.713987; captureRadius = 10; duration = 204; initialDepth = 1570.683127; finalDepth = 1583.426866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1583.426866 # Seafloor depth: -1658.426866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.017164 meters # Minimum depth: 1645.683127 meters looking forward 0.000000 meters along route # Maximum depth: 1645.683127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1570.683127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730713; longitude = -122.714639; captureRadius = 10; duration = 212; initialDepth = 1547.287798; finalDepth = 1570.683127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1570.683127 # Seafloor depth: -1645.683127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.589044 meters # Minimum depth: 1622.287798 meters looking forward 0.000000 meters along route # Maximum depth: 1622.287798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1547.287798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729933; longitude = -122.715316; captureRadius = 10; duration = 203; initialDepth = 1496.617908; finalDepth = 1547.287798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1547.287798 # Seafloor depth: -1622.287798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.586199 meters # Minimum depth: 1571.617908 meters looking forward 0.000000 meters along route # Maximum depth: 1571.617908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1496.617908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729185; longitude = -122.715965; captureRadius = 10; duration = 213; initialDepth = 1420.743849; finalDepth = 1496.617908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1496.617908 # Seafloor depth: -1571.617908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.021281 meters # Minimum depth: 1495.743849 meters looking forward 0.000000 meters along route # Maximum depth: 1495.743849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.743849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728401; longitude = -122.716646; captureRadius = 10; duration = 202; initialDepth = 1348.745432; finalDepth = 1420.743849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1420.743849 # Seafloor depth: -1495.743849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.155241 meters # Minimum depth: 1423.745432 meters looking forward 0.000000 meters along route # Maximum depth: 1423.745432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1348.745432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727657; longitude = -122.717291; captureRadius = 10; duration = 214; initialDepth = 1325.780749; finalDepth = 1348.745432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1348.745432 # Seafloor depth: -1423.745432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.453511 meters # Minimum depth: 1400.780749 meters looking forward 0.000000 meters along route # Maximum depth: 1400.780749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1325.780749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726868; longitude = -122.717975; captureRadius = 10; duration = 200; initialDepth = 1314.436434; finalDepth = 1325.780749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1325.780749 # Seafloor depth: -1400.780749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.804853 meters # Minimum depth: 1389.436434 meters looking forward 0.000000 meters along route # Maximum depth: 1389.436434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1314.436434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726129; longitude = -122.718617; captureRadius = 10; duration = 207; initialDepth = 1285.483988; finalDepth = 1314.436434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1314.436434 # Seafloor depth: -1389.436434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.805171 meters # Minimum depth: 1360.483988 meters looking forward 0.000000 meters along route # Maximum depth: 1360.483988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1285.483988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725365; longitude = -122.719280; captureRadius = 10; duration = 207; initialDepth = 1272.273228; finalDepth = 1285.483988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1285.483988 # Seafloor depth: -1360.483988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.805489 meters # Minimum depth: 1347.273228 meters looking forward 0.000000 meters along route # Maximum depth: 1347.273228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1272.273228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724601; longitude = -122.719943; captureRadius = 10; duration = 207; initialDepth = 1312.708185; finalDepth = 1272.273228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1272.273228 # Seafloor depth: -1347.273228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.805807 meters # Minimum depth: 1387.708185 meters looking forward 0.000000 meters along route # Maximum depth: 1387.708185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1312.708185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723837; longitude = -122.720605; captureRadius = 10; duration = 207; initialDepth = 1291.063974; finalDepth = 1312.708185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1312.708185 # Seafloor depth: -1387.708185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.806124 meters # Minimum depth: 1366.063974 meters looking forward 0.000000 meters along route # Maximum depth: 1366.063974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1291.063974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723073; longitude = -122.721268; captureRadius = 10; duration = 207; initialDepth = 1256.887795; finalDepth = 1291.063974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1291.063974 # Seafloor depth: -1366.063974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.806443 meters # Minimum depth: 1331.887795 meters looking forward 0.000000 meters along route # Maximum depth: 1331.887795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1256.887795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722309; longitude = -122.721931; captureRadius = 10; duration = 207; initialDepth = 1266.575719; finalDepth = 1256.887795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1256.887795 # Seafloor depth: -1331.887795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.806761 meters # Minimum depth: 1341.575719 meters looking forward 0.000000 meters along route # Maximum depth: 1341.575719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1266.575719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721545; longitude = -122.722594; captureRadius = 10; duration = 207; initialDepth = 1254.422973; finalDepth = 1266.575719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1266.575719 # Seafloor depth: -1341.575719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.807079 meters # Minimum depth: 1329.422973 meters looking forward 0.000000 meters along route # Maximum depth: 1329.422973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1254.422973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720781; longitude = -122.723257; captureRadius = 10; duration = 207; initialDepth = 1274.932839; finalDepth = 1254.422973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1254.422973 # Seafloor depth: -1329.422973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.807396 meters # Minimum depth: 1349.932839 meters looking forward 0.000000 meters along route # Maximum depth: 1349.932839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1274.932839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720016; longitude = -122.723920; captureRadius = 10; duration = 207; initialDepth = 1280.915162; finalDepth = 1274.932839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1274.932839 # Seafloor depth: -1349.932839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.162033 meters # Minimum depth: 1355.915162 meters looking forward 0.000000 meters along route # Maximum depth: 1355.915162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1280.915162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719252; longitude = -122.724583; captureRadius = 10; duration = 208; initialDepth = 1323.223470; finalDepth = 1280.915162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1280.915162 # Seafloor depth: -1355.915162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.453715 meters # Minimum depth: 1398.223470 meters looking forward 0.000000 meters along route # Maximum depth: 1398.223470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1323.223470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718486; longitude = -122.725248; captureRadius = 10; duration = 206; initialDepth = 1365.817885; finalDepth = 1323.223470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1323.22347 # Seafloor depth: -1398.223470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.731082 meters # Minimum depth: 1440.817885 meters looking forward 0.000000 meters along route # Maximum depth: 1440.817885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1365.817885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717724; longitude = -122.725909; captureRadius = 10; duration = 209; initialDepth = 1360.502302; finalDepth = 1365.817885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1365.817885 # Seafloor depth: -1440.817885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.885937 meters # Minimum depth: 1435.502302 meters looking forward 0.000000 meters along route # Maximum depth: 1435.502302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1360.502302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716953; longitude = -122.726578; captureRadius = 10; duration = 205; initialDepth = 1399.868005; finalDepth = 1360.502302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1360.502302 # Seafloor depth: -1435.502302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.300139 meters # Minimum depth: 1474.868005 meters looking forward 0.000000 meters along route # Maximum depth: 1474.868005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1399.868005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716196; longitude = -122.727235; captureRadius = 10; duration = 210; initialDepth = 1442.284218; finalDepth = 1399.868005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1399.868005 # Seafloor depth: -1474.868005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.318153 meters # Minimum depth: 1517.284218 meters looking forward 0.000000 meters along route # Maximum depth: 1517.284218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.284218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715421; longitude = -122.727907; captureRadius = 10; duration = 204; initialDepth = 1489.995955; finalDepth = 1442.284218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.284218 # Seafloor depth: -1517.284218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.869202 meters # Minimum depth: 1576.545563 meters looking forward 0.000000 meters along route # Maximum depth: 1576.545563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1489.995955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714668; longitude = -122.728560; captureRadius = 10; duration = 211; initialDepth = 1482.144000; finalDepth = 1489.995955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.5496076149768 # Actual altitude: 86.5496076149768 # Commanded vehicle depth: 1489.99595538502 # Seafloor depth: -1576.545563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 346.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.750362 meters # Minimum depth: 1557.144000 meters looking forward 0.000000 meters along route # Maximum depth: 1557.144000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1482.144000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713889; longitude = -122.729236; captureRadius = 10; duration = 203; initialDepth = 1493.164955; finalDepth = 1482.144000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.5496076149768 # Actual altitude: 86.5496076149768 # Commanded vehicle depth: 1482.144 # Seafloor depth: -1557.144000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 346.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.438273 meters # Minimum depth: 1568.164955 meters looking forward 0.000000 meters along route # Maximum depth: 1568.164955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1493.164955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713140; longitude = -122.729886; captureRadius = 10; duration = 212; initialDepth = 1542.437029; finalDepth = 1493.164955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1493.164955 # Seafloor depth: -1568.164955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.182563 meters # Minimum depth: 1617.437029 meters looking forward 0.000000 meters along route # Maximum depth: 1617.437029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1542.437029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712357; longitude = -122.730566; captureRadius = 10; duration = 202; initialDepth = 1514.889662; finalDepth = 1542.437029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1542.437029 # Seafloor depth: -1617.437029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.007351 meters # Minimum depth: 1589.889662 meters looking forward 0.000000 meters along route # Maximum depth: 1589.889662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1514.889662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711612; longitude = -122.731212; captureRadius = 10; duration = 214; initialDepth = 1548.308612; finalDepth = 1514.889662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1514.889662 # Seafloor depth: -1589.889662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.614757 meters # Minimum depth: 1623.308612 meters looking forward 0.000000 meters along route # Maximum depth: 1623.308612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1548.308612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710824; longitude = -122.731895; captureRadius = 10; duration = 201; initialDepth = 1586.678780; finalDepth = 1548.308612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1548.308612 # Seafloor depth: -1623.308612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.576436 meters # Minimum depth: 1661.678780 meters looking forward 0.000000 meters along route # Maximum depth: 1661.678780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1586.678780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710084; longitude = -122.732538; captureRadius = 10; duration = 215; initialDepth = 1601.536504; finalDepth = 1586.678780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1586.67878 # Seafloor depth: -1661.678780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.046944 meters # Minimum depth: 1676.536504 meters looking forward 0.000000 meters along route # Maximum depth: 1676.536504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1601.536504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709292; longitude = -122.733225; captureRadius = 10; duration = 200; initialDepth = 1577.815502; finalDepth = 1601.536504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1601.536504 # Seafloor depth: -1676.536504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.812168 meters # Minimum depth: 1652.815502 meters looking forward 0.000000 meters along route # Maximum depth: 1652.815502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.815502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708556; longitude = -122.733864; captureRadius = 10; duration = 207; initialDepth = 1608.425076; finalDepth = 1577.815502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1577.815502 # Seafloor depth: -1652.815502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.812485 meters # Minimum depth: 1683.425076 meters looking forward 0.000000 meters along route # Maximum depth: 1683.425076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1608.425076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707792; longitude = -122.734527; captureRadius = 10; duration = 207; initialDepth = 1595.311149; finalDepth = 1608.425076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1608.425076 # Seafloor depth: -1683.425076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.812804 meters # Minimum depth: 1670.311149 meters looking forward 0.000000 meters along route # Maximum depth: 1670.311149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1595.311149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707028; longitude = -122.735189; captureRadius = 10; duration = 207; initialDepth = 1565.958524; finalDepth = 1595.311149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1595.311149 # Seafloor depth: -1670.311149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.813121 meters # Minimum depth: 1640.958524 meters looking forward 0.000000 meters along route # Maximum depth: 1640.958524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1565.958524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706264; longitude = -122.735852; captureRadius = 10; duration = 207; initialDepth = 1545.895987; finalDepth = 1565.958524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1565.958524 # Seafloor depth: -1640.958524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 109.283732 meters # Minimum depth: 1620.895987 meters looking forward 0.000000 meters along route # Maximum depth: 1620.895987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1545.895987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705499; longitude = -122.736515; captureRadius = 10; duration = 218; initialDepth = 1536.781554; finalDepth = 1545.895987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1545.895987 # Seafloor depth: -1620.895987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 110.221417 meters # Minimum depth: 1611.781554 meters looking forward 0.000000 meters along route # Maximum depth: 1611.781554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1536.781554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704695; longitude = -122.737213; captureRadius = 10; duration = 220; initialDepth = 1534.982939; finalDepth = 1536.781554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1536.781554 # Seafloor depth: -1611.781554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.319401 meters # Minimum depth: 1609.982939 meters looking forward 0.000000 meters along route # Maximum depth: 1609.982939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1534.982939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703884; longitude = -122.737917; captureRadius = 10; duration = 206; initialDepth = 1531.590790; finalDepth = 1534.982939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1534.982939 # Seafloor depth: -1609.982939 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 94.123261 meters # Minimum depth: 1606.590790 meters looking forward 0.000000 meters along route # Maximum depth: 1606.590790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1531.590790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703124; longitude = -122.738577; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 1509.161214; finalDepth = 1531.590790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1531.59079 # Seafloor depth: -1606.590790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.876739 meters # Minimum depth: 1584.161214 meters looking forward 0.000000 meters along route # Maximum depth: 1584.161214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.161214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703614; longitude = -122.739426; captureRadius = 10; duration = 211; initialDepth = 1558.532347; finalDepth = 1509.161214; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1509.161214 # Seafloor depth: -1584.161214 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 103.735935 meters # Minimum depth: 1648.402710 meters looking forward 0.000000 meters along route # Maximum depth: 1648.402710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1558.532347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704165; longitude = -122.740382; captureRadius = 10; duration = 207; # abortOnTimeout = True; initialDepth = 1536.207820; finalDepth = 1558.532347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.8703627432201 # Actual altitude: 89.8703627432201 # Commanded vehicle depth: 1558.53234725678 # Seafloor depth: -1648.402710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 103.815121 meters # Minimum depth: 1611.207820 meters looking forward 0.000000 meters along route # Maximum depth: 1611.207820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1536.207820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704928; longitude = -122.739719; captureRadius = 10; duration = 207; initialDepth = 1576.504435; finalDepth = 1536.207820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.8703627432201 # Actual altitude: 89.8703627432201 # Commanded vehicle depth: 1536.20782 # Seafloor depth: -1611.207820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.814802 meters # Minimum depth: 1651.504435 meters looking forward 0.000000 meters along route # Maximum depth: 1651.504435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1576.504435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705692; longitude = -122.739056; captureRadius = 10; duration = 207; initialDepth = 1578.829401; finalDepth = 1576.504435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1576.504435 # Seafloor depth: -1651.504435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.814485 meters # Minimum depth: 1653.829401 meters looking forward 0.000000 meters along route # Maximum depth: 1653.829401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1578.829401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706456; longitude = -122.738394; captureRadius = 10; duration = 207; initialDepth = 1593.394931; finalDepth = 1578.829401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1578.829401 # Seafloor depth: -1653.829401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.814166 meters # Minimum depth: 1668.394931 meters looking forward 0.000000 meters along route # Maximum depth: 1668.394931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1593.394931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707220; longitude = -122.737731; captureRadius = 10; duration = 207; initialDepth = 1617.675020; finalDepth = 1593.394931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1593.394931 # Seafloor depth: -1668.394931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.170799 meters # Minimum depth: 1692.675020 meters looking forward 0.000000 meters along route # Maximum depth: 1692.675020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1617.675020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707985; longitude = -122.737068; captureRadius = 10; duration = 208; initialDepth = 1633.967983; finalDepth = 1617.675020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1617.67502 # Seafloor depth: -1692.675020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.456580 meters # Minimum depth: 1708.967983 meters looking forward 0.000000 meters along route # Maximum depth: 1708.967983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1633.967983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708751; longitude = -122.736403; captureRadius = 10; duration = 206; initialDepth = 1642.889143; finalDepth = 1633.967983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1633.967983 # Seafloor depth: -1708.967983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.733250 meters # Minimum depth: 1717.889143 meters looking forward 0.000000 meters along route # Maximum depth: 1717.889143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.889143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709513; longitude = -122.735742; captureRadius = 10; duration = 209; initialDepth = 1647.163602; finalDepth = 1642.889143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.889143 # Seafloor depth: -1717.889143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.892856 meters # Minimum depth: 1722.163602 meters looking forward 0.000000 meters along route # Maximum depth: 1722.163602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1647.163602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710284; longitude = -122.735073; captureRadius = 10; duration = 205; initialDepth = 1653.812611; finalDepth = 1647.163602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1647.163602 # Seafloor depth: -1722.163602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.295695 meters # Minimum depth: 1728.812611 meters looking forward 0.000000 meters along route # Maximum depth: 1728.812611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1653.812611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711041; longitude = -122.734416; captureRadius = 10; duration = 210; initialDepth = 1633.494386; finalDepth = 1653.812611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1653.812611 # Seafloor depth: -1728.812611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.329139 meters # Minimum depth: 1708.494386 meters looking forward 0.000000 meters along route # Maximum depth: 1708.494386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1633.494386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711816; longitude = -122.733744; captureRadius = 10; duration = 204; initialDepth = 1645.040928; finalDepth = 1633.494386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1633.494386 # Seafloor depth: -1708.494386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.858133 meters # Minimum depth: 1720.040928 meters looking forward 0.000000 meters along route # Maximum depth: 1720.040928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1645.040928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712569; longitude = -122.733090; captureRadius = 10; duration = 211; initialDepth = 1642.458145; finalDepth = 1645.040928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1645.040928 # Seafloor depth: -1720.040928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.765428 meters # Minimum depth: 1717.458145 meters looking forward 0.000000 meters along route # Maximum depth: 1717.458145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.458145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713348; longitude = -122.732414; captureRadius = 10; duration = 203; initialDepth = 1603.794272; finalDepth = 1642.458145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.458145 # Seafloor depth: -1717.458145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.420564 meters # Minimum depth: 1678.794272 meters looking forward 0.000000 meters along route # Maximum depth: 1678.794272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1603.794272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714097; longitude = -122.731764; captureRadius = 10; duration = 212; initialDepth = 1620.121411; finalDepth = 1603.794272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1603.794272 # Seafloor depth: -1678.794272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.201725 meters # Minimum depth: 1695.121411 meters looking forward 0.000000 meters along route # Maximum depth: 1695.121411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1620.121411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714880; longitude = -122.731085; captureRadius = 10; duration = 202; initialDepth = 1580.928085; finalDepth = 1620.121411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1620.121411 # Seafloor depth: -1695.121411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.982989 meters # Minimum depth: 1655.928085 meters looking forward 0.000000 meters along route # Maximum depth: 1655.928085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1580.928085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715625; longitude = -122.730439; captureRadius = 10; duration = 213; initialDepth = 1540.494338; finalDepth = 1580.928085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1580.928085 # Seafloor depth: -1655.928085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.638028 meters # Minimum depth: 1615.494338 meters looking forward 0.000000 meters along route # Maximum depth: 1615.494338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1540.494338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716413; longitude = -122.729755; captureRadius = 10; duration = 201; initialDepth = 1513.220051; finalDepth = 1540.494338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1540.494338 # Seafloor depth: -1615.494338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.545406 meters # Minimum depth: 1588.220051 meters looking forward 0.000000 meters along route # Maximum depth: 1588.220051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1513.220051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717153; longitude = -122.729113; captureRadius = 10; duration = 215; initialDepth = 1473.708282; finalDepth = 1513.220051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1513.220051 # Seafloor depth: -1588.220051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.074339 meters # Minimum depth: 1548.708282 meters looking forward 0.000000 meters along route # Maximum depth: 1548.708282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1473.708282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717945; longitude = -122.728426; captureRadius = 10; duration = 200; initialDepth = 1444.104600; finalDepth = 1473.708282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1473.708282 # Seafloor depth: -1548.708282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.809395 meters # Minimum depth: 1519.104600 meters looking forward 0.000000 meters along route # Maximum depth: 1519.104600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1444.104600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718682; longitude = -122.727787; captureRadius = 10; duration = 207; initialDepth = 1408.892653; finalDepth = 1444.104600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1444.1046 # Seafloor depth: -1519.104600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.809077 meters # Minimum depth: 1483.892653 meters looking forward 0.000000 meters along route # Maximum depth: 1483.892653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.892653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719446; longitude = -122.727124; captureRadius = 10; duration = 207; initialDepth = 1346.105820; finalDepth = 1408.892653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1408.892653 # Seafloor depth: -1483.892653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.808759 meters # Minimum depth: 1421.105820 meters looking forward 0.000000 meters along route # Maximum depth: 1421.105820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1346.105820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720210; longitude = -122.726461; captureRadius = 10; duration = 207; initialDepth = 1338.756574; finalDepth = 1346.105820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1346.10582 # Seafloor depth: -1421.105820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.808441 meters # Minimum depth: 1413.756574 meters looking forward 0.000000 meters along route # Maximum depth: 1413.756574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1338.756574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720974; longitude = -122.725798; captureRadius = 10; duration = 207; initialDepth = 1303.393537; finalDepth = 1338.756574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1338.756574 # Seafloor depth: -1413.756574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.808123 meters # Minimum depth: 1378.393537 meters looking forward 0.000000 meters along route # Maximum depth: 1378.393537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1303.393537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721738; longitude = -122.725135; captureRadius = 10; duration = 207; initialDepth = 1266.552191; finalDepth = 1303.393537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1303.393537 # Seafloor depth: -1378.393537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.807806 meters # Minimum depth: 1341.552191 meters looking forward 0.000000 meters along route # Maximum depth: 1341.552191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1266.552191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722502; longitude = -122.724472; captureRadius = 10; duration = 207; initialDepth = 1246.612899; finalDepth = 1266.552191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1266.552191 # Seafloor depth: -1341.552191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.807487 meters # Minimum depth: 1321.612899 meters looking forward 0.000000 meters along route # Maximum depth: 1321.612899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1246.612899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723266; longitude = -122.723810; captureRadius = 10; duration = 207; initialDepth = 1260.044668; finalDepth = 1246.612899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1246.612899 # Seafloor depth: -1321.612899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.953344 meters # Minimum depth: 1335.044668 meters looking forward 0.000000 meters along route # Maximum depth: 1335.044668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1260.044668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724030; longitude = -122.723147; captureRadius = 10; duration = 207; initialDepth = 1298.932903; finalDepth = 1260.044668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1260.044668 # Seafloor depth: -1335.044668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.660676 meters # Minimum depth: 1373.932903 meters looking forward 0.000000 meters along route # Maximum depth: 1373.932903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1298.932903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724795; longitude = -122.722483; captureRadius = 10; duration = 207; initialDepth = 1316.513093; finalDepth = 1298.932903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1298.932903 # Seafloor depth: -1373.932903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.515761 meters # Minimum depth: 1391.513093 meters looking forward 0.000000 meters along route # Maximum depth: 1391.513093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1316.513093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725558; longitude = -122.721821; captureRadius = 10; duration = 209; initialDepth = 1326.460798; finalDepth = 1316.513093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1316.513093 # Seafloor depth: -1391.513093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.096987 meters # Minimum depth: 1401.460798 meters looking forward 0.000000 meters along route # Maximum depth: 1401.460798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1326.460798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726327; longitude = -122.721153; captureRadius = 10; duration = 206; initialDepth = 1346.889225; finalDepth = 1326.460798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1326.460798 # Seafloor depth: -1401.460798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.078171 meters # Minimum depth: 1421.889225 meters looking forward 0.000000 meters along route # Maximum depth: 1421.889225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1346.889225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727086; longitude = -122.720495; captureRadius = 10; duration = 210; initialDepth = 1367.631226; finalDepth = 1346.889225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1346.889225 # Seafloor depth: -1421.889225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.533305 meters # Minimum depth: 1442.631226 meters looking forward 0.000000 meters along route # Maximum depth: 1442.631226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1367.631226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727860; longitude = -122.719824; captureRadius = 10; duration = 205; initialDepth = 1408.875636; finalDepth = 1367.631226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1367.631226 # Seafloor depth: -1442.631226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.640575 meters # Minimum depth: 1483.875636 meters looking forward 0.000000 meters along route # Maximum depth: 1483.875636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.875636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728614; longitude = -122.719169; captureRadius = 10; duration = 211; initialDepth = 1458.136644; finalDepth = 1408.875636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1408.875636 # Seafloor depth: -1483.875636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.969629 meters # Minimum depth: 1543.030485 meters looking forward 0.000000 meters along route # Maximum depth: 1543.030485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1458.136644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729392; longitude = -122.718495; captureRadius = 10; duration = 203; initialDepth = 1491.621071; finalDepth = 1458.136644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.893840822858 # Actual altitude: 84.893840822858 # Commanded vehicle depth: 1458.13664417714 # Seafloor depth: -1543.030485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 339.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.202971 meters # Minimum depth: 1566.621071 meters looking forward 0.000000 meters along route # Maximum depth: 1566.621071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1491.621071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730143; longitude = -122.717843; captureRadius = 10; duration = 212; initialDepth = 1541.144329; finalDepth = 1491.621071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.893840822858 # Actual altitude: 84.893840822858 # Commanded vehicle depth: 1491.621071 # Seafloor depth: -1566.621071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 339.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.405961 meters # Minimum depth: 1640.276166 meters looking forward 0.000000 meters along route # Maximum depth: 1640.276166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1541.144329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730924; longitude = -122.717165; captureRadius = 10; duration = 202; initialDepth = 1588.430704; finalDepth = 1541.144329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.1318372662413 # Actual altitude: 99.1318372662413 # Commanded vehicle depth: 1541.14432873376 # Seafloor depth: -1640.276166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.765361 meters # Minimum depth: 1684.807172 meters looking forward 0.000000 meters along route # Maximum depth: 1684.807172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1588.430704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731671; longitude = -122.716518; captureRadius = 10; duration = 213; initialDepth = 1638.216209; finalDepth = 1588.430704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.1318372662413 # Actual altitude: 99.1318372662413 # Commanded vehicle depth: 1588.43070401174 # Seafloor depth: -1684.807172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.842300 meters # Minimum depth: 1737.562429 meters looking forward 0.000000 meters along route # Maximum depth: 1737.562429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1638.216209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732457; longitude = -122.715836; captureRadius = 10; duration = 201; initialDepth = 1636.006096; finalDepth = 1638.216209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.3462204957261 # Actual altitude: 99.3462204957261 # Commanded vehicle depth: 1638.21620850427 # Seafloor depth: -1737.562429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.327744 meters # Minimum depth: 1711.006096 meters looking forward 0.000000 meters along route # Maximum depth: 1711.006096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1636.006096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733199; longitude = -122.715192; captureRadius = 10; duration = 214; initialDepth = 1629.316776; finalDepth = 1636.006096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.3462204957261 # Actual altitude: 99.3462204957261 # Commanded vehicle depth: 1636.006096 # Seafloor depth: -1711.006096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.80; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.278644 meters # Minimum depth: 1704.316776 meters looking forward 0.000000 meters along route # Maximum depth: 1704.316776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.316776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733989; longitude = -122.714506; captureRadius = 10; duration = 200; initialDepth = 1649.133409; finalDepth = 1629.316776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.316776 # Seafloor depth: -1704.316776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.802718 meters # Minimum depth: 1724.133409 meters looking forward 0.000000 meters along route # Maximum depth: 1724.133409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.133409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734727; longitude = -122.713866; captureRadius = 10; duration = 207; initialDepth = 1683.243973; finalDepth = 1649.133409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.133409 # Seafloor depth: -1724.133409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.802399 meters # Minimum depth: 1758.243973 meters looking forward 0.000000 meters along route # Maximum depth: 1758.243973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1683.243973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735491; longitude = -122.713203; captureRadius = 10; duration = 207; initialDepth = 1668.520751; finalDepth = 1683.243973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1683.243973 # Seafloor depth: -1758.243973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.802082 meters # Minimum depth: 1743.520751 meters looking forward 0.000000 meters along route # Maximum depth: 1743.520751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.520751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736255; longitude = -122.712540; captureRadius = 10; duration = 207; initialDepth = 1630.783403; finalDepth = 1668.520751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.520751 # Seafloor depth: -1743.520751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.801763 meters # Minimum depth: 1705.783403 meters looking forward 0.000000 meters along route # Maximum depth: 1705.783403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1630.783403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737019; longitude = -122.711877; captureRadius = 10; duration = 207; initialDepth = 1602.249982; finalDepth = 1630.783403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1630.783403 # Seafloor depth: -1705.783403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.801446 meters # Minimum depth: 1677.249982 meters looking forward 0.000000 meters along route # Maximum depth: 1677.249982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.249982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737783; longitude = -122.711214; captureRadius = 10; duration = 207; initialDepth = 1576.694394; finalDepth = 1602.249982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.249982 # Seafloor depth: -1677.249982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.801128 meters # Minimum depth: 1651.694394 meters looking forward 0.000000 meters along route # Maximum depth: 1651.694394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1576.694394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738547; longitude = -122.710551; captureRadius = 10; duration = 207; initialDepth = 1567.808200; finalDepth = 1576.694394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1576.694394 # Seafloor depth: -1651.694394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.800810 meters # Minimum depth: 1642.808200 meters looking forward 0.000000 meters along route # Maximum depth: 1642.808200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.808200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739311; longitude = -122.709888; captureRadius = 10; duration = 207; initialDepth = 1562.918985; finalDepth = 1567.808200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.8082 # Seafloor depth: -1642.808200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.800492 meters # Minimum depth: 1637.918985 meters looking forward 0.000000 meters along route # Maximum depth: 1637.918985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.918985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740075; longitude = -122.709225; captureRadius = 10; duration = 207; initialDepth = 1571.178059; finalDepth = 1562.918985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1562.918985 # Seafloor depth: -1637.918985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.800174 meters # Minimum depth: 1646.178059 meters looking forward 0.000000 meters along route # Maximum depth: 1646.178059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1571.178059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740840; longitude = -122.708563; captureRadius = 10; duration = 207; initialDepth = 1586.271967; finalDepth = 1571.178059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1571.178059 # Seafloor depth: -1646.178059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.298302 meters # Minimum depth: 1661.271967 meters looking forward 0.000000 meters along route # Maximum depth: 1661.271967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1586.271967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741604; longitude = -122.707900; captureRadius = 10; duration = 208; initialDepth = 1606.813577; finalDepth = 1586.271967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1586.271967 # Seafloor depth: -1661.271967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.301092 meters # Minimum depth: 1681.813577 meters looking forward 0.000000 meters along route # Maximum depth: 1681.813577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1606.813577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742371; longitude = -122.707234; captureRadius = 10; duration = 206; initialDepth = 1644.400404; finalDepth = 1606.813577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1606.813577 # Seafloor depth: -1681.813577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.860678 meters # Minimum depth: 1719.400404 meters looking forward 0.000000 meters along route # Maximum depth: 1719.400404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1644.400404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743132; longitude = -122.706574; captureRadius = 10; duration = 209; initialDepth = 1667.025015; finalDepth = 1644.400404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1644.400404 # Seafloor depth: -1719.400404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.737445 meters # Minimum depth: 1742.025015 meters looking forward 0.000000 meters along route # Maximum depth: 1742.025015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1667.025015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743904; longitude = -122.705904; captureRadius = 10; duration = 205; initialDepth = 1667.973526; finalDepth = 1667.025015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1667.025015 # Seafloor depth: -1742.025015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.423047 meters # Minimum depth: 1742.973526 meters looking forward 0.000000 meters along route # Maximum depth: 1742.973526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1667.973526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744660; longitude = -122.705248; captureRadius = 10; duration = 210; initialDepth = 1625.211461; finalDepth = 1667.973526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1667.973526 # Seafloor depth: -1742.973526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.202095 meters # Minimum depth: 1700.211461 meters looking forward 0.000000 meters along route # Maximum depth: 1700.211461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.211461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745436; longitude = -122.704575; captureRadius = 10; duration = 220; initialDepth = 1573.374559; finalDepth = 1625.211461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.211461 # Seafloor depth: -1700.211461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.456719 meters # Minimum depth: 1648.374559 meters looking forward 0.000000 meters along route # Maximum depth: 1648.374559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1573.374559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746247; longitude = -122.703871; captureRadius = 10; duration = 214; initialDepth = 1519.725555; finalDepth = 1573.374559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1573.374559 # Seafloor depth: -1648.374559 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 93.935566 meters # Minimum depth: 1594.725555 meters looking forward 0.000000 meters along route # Maximum depth: 1594.725555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1519.725555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747038; longitude = -122.703185; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 1542.682416; finalDepth = 1519.725555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1519.725555 # Seafloor depth: -1594.725555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.064434 meters # Minimum depth: 1617.682416 meters looking forward 0.000000 meters along route # Maximum depth: 1617.682416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1542.682416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747527; longitude = -122.704033; captureRadius = 10; duration = 212; initialDepth = 1574.739410; finalDepth = 1542.682416; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1542.682416 # Seafloor depth: -1617.682416 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 109.565874 meters # Minimum depth: 1649.739410 meters looking forward 0.000000 meters along route # Maximum depth: 1649.739410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1574.739410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748080; longitude = -122.704990; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 1611.651602; finalDepth = 1574.739410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1574.73941 # Seafloor depth: -1649.739410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 103.799576 meters # Minimum depth: 1686.651602 meters looking forward 0.000000 meters along route # Maximum depth: 1686.651602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1611.651602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747273; longitude = -122.705690; captureRadius = 10; duration = 207; initialDepth = 1660.054138; finalDepth = 1611.651602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1611.651602 # Seafloor depth: -1686.651602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.799893 meters # Minimum depth: 1736.414012 meters looking forward 0.000000 meters along route # Maximum depth: 1736.414012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.054138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746509; longitude = -122.706353; captureRadius = 10; duration = 207; initialDepth = 1701.560236; finalDepth = 1660.054138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.359873738535 # Actual altitude: 76.359873738535 # Commanded vehicle depth: 1660.05413826146 # Seafloor depth: -1736.414012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 305.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.800211 meters # Minimum depth: 1776.560236 meters looking forward 0.000000 meters along route # Maximum depth: 1776.560236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.560236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745745; longitude = -122.707016; captureRadius = 10; duration = 207; initialDepth = 1713.822955; finalDepth = 1701.560236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.359873738535 # Actual altitude: 76.359873738535 # Commanded vehicle depth: 1701.560236 # Seafloor depth: -1776.560236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 305.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 305.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.800529 meters # Minimum depth: 1788.822955 meters looking forward 0.000000 meters along route # Maximum depth: 1788.822955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1713.822955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744981; longitude = -122.707679; captureRadius = 10; duration = 207; initialDepth = 1705.287684; finalDepth = 1713.822955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1713.822955 # Seafloor depth: -1788.822955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.800848 meters # Minimum depth: 1780.287684 meters looking forward 0.000000 meters along route # Maximum depth: 1780.287684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.287684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744217; longitude = -122.708342; captureRadius = 10; duration = 207; initialDepth = 1690.107790; finalDepth = 1705.287684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.287684 # Seafloor depth: -1780.287684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.801165 meters # Minimum depth: 1765.107790 meters looking forward 0.000000 meters along route # Maximum depth: 1765.107790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1690.107790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743453; longitude = -122.709005; captureRadius = 10; duration = 207; initialDepth = 1683.383309; finalDepth = 1690.107790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1690.10779 # Seafloor depth: -1765.107790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.347041 meters # Minimum depth: 1758.383309 meters looking forward 0.000000 meters along route # Maximum depth: 1758.383309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1683.383309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742689; longitude = -122.709667; captureRadius = 10; duration = 208; initialDepth = 1669.691879; finalDepth = 1683.383309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1683.383309 # Seafloor depth: -1758.383309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.256242 meters # Minimum depth: 1744.691879 meters looking forward 0.000000 meters along route # Maximum depth: 1744.691879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1669.691879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741921; longitude = -122.710334; captureRadius = 10; duration = 206; initialDepth = 1661.326995; finalDepth = 1669.691879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1669.691879 # Seafloor depth: -1744.691879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.905367 meters # Minimum depth: 1736.326995 meters looking forward 0.000000 meters along route # Maximum depth: 1736.326995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1661.326995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741161; longitude = -122.710993; captureRadius = 10; duration = 209; initialDepth = 1660.399816; finalDepth = 1661.326995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1661.326995 # Seafloor depth: -1736.326995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.699189 meters # Minimum depth: 1735.399816 meters looking forward 0.000000 meters along route # Maximum depth: 1735.399816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.399816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740388; longitude = -122.711663; captureRadius = 10; duration = 205; initialDepth = 1671.789362; finalDepth = 1660.399816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1660.399816 # Seafloor depth: -1735.399816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.463698 meters # Minimum depth: 1746.789362 meters looking forward 0.000000 meters along route # Maximum depth: 1746.789362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.789362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739632; longitude = -122.712319; captureRadius = 10; duration = 210; initialDepth = 1685.849902; finalDepth = 1671.789362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1671.789362 # Seafloor depth: -1746.789362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.142129 meters # Minimum depth: 1760.849902 meters looking forward 0.000000 meters along route # Maximum depth: 1760.849902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.849902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738856; longitude = -122.712993; captureRadius = 10; duration = 204; initialDepth = 1698.288649; finalDepth = 1685.849902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.849902 # Seafloor depth: -1760.849902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.022037 meters # Minimum depth: 1773.288649 meters looking forward 0.000000 meters along route # Maximum depth: 1773.288649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.288649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738104; longitude = -122.713645; captureRadius = 10; duration = 212; initialDepth = 1693.008201; finalDepth = 1698.288649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.288649 # Seafloor depth: -1773.288649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.585063 meters # Minimum depth: 1768.008201 meters looking forward 0.000000 meters along route # Maximum depth: 1768.008201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.008201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737324; longitude = -122.714322; captureRadius = 10; duration = 203; initialDepth = 1688.087495; finalDepth = 1693.008201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1693.008201 # Seafloor depth: -1768.008201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.580382 meters # Minimum depth: 1763.087495 meters looking forward 0.000000 meters along route # Maximum depth: 1763.087495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.087495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736576; longitude = -122.714971; captureRadius = 10; duration = 213; initialDepth = 1702.380194; finalDepth = 1688.087495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1688.087495 # Seafloor depth: -1763.087495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.027989 meters # Minimum depth: 1777.380194 meters looking forward 0.000000 meters along route # Maximum depth: 1777.380194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1702.380194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735792; longitude = -122.715651; captureRadius = 10; duration = 202; initialDepth = 1700.609973; finalDepth = 1702.380194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1702.380194 # Seafloor depth: -1777.380194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.138735 meters # Minimum depth: 1775.609973 meters looking forward 0.000000 meters along route # Maximum depth: 1775.609973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.609973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735048; longitude = -122.716297; captureRadius = 10; duration = 214; initialDepth = 1700.677137; finalDepth = 1700.609973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1700.609973 # Seafloor depth: -1775.609973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.470908 meters # Minimum depth: 1775.677137 meters looking forward 0.000000 meters along route # Maximum depth: 1775.677137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.677137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734259; longitude = -122.716981; captureRadius = 10; duration = 200; initialDepth = 1693.185447; finalDepth = 1700.677137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1700.677137 # Seafloor depth: -1775.677137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.805298 meters # Minimum depth: 1768.185447 meters looking forward 0.000000 meters along route # Maximum depth: 1768.185447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.185447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733520; longitude = -122.717622; captureRadius = 10; duration = 207; initialDepth = 1670.170689; finalDepth = 1693.185447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1693.185447 # Seafloor depth: -1768.185447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.805617 meters # Minimum depth: 1745.170689 meters looking forward 0.000000 meters along route # Maximum depth: 1745.170689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1670.170689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732756; longitude = -122.718285; captureRadius = 10; duration = 207; initialDepth = 1605.828606; finalDepth = 1670.170689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1670.170689 # Seafloor depth: -1745.170689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.805934 meters # Minimum depth: 1680.828606 meters looking forward 0.000000 meters along route # Maximum depth: 1680.828606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1605.828606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731992; longitude = -122.718948; captureRadius = 10; duration = 207; initialDepth = 1545.675927; finalDepth = 1605.828606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1605.828606 # Seafloor depth: -1680.828606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.806253 meters # Minimum depth: 1620.675927 meters looking forward 0.000000 meters along route # Maximum depth: 1620.675927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1545.675927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731227; longitude = -122.719611; captureRadius = 10; duration = 207; initialDepth = 1540.673085; finalDepth = 1545.675927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1545.675927 # Seafloor depth: -1620.675927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.806570 meters # Minimum depth: 1615.673085 meters looking forward 0.000000 meters along route # Maximum depth: 1615.673085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1540.673085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730463; longitude = -122.720274; captureRadius = 10; duration = 207; initialDepth = 1522.436571; finalDepth = 1540.673085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1540.673085 # Seafloor depth: -1615.673085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.806888 meters # Minimum depth: 1597.436571 meters looking forward 0.000000 meters along route # Maximum depth: 1597.436571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1522.436571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729699; longitude = -122.720937; captureRadius = 10; duration = 207; initialDepth = 1483.250162; finalDepth = 1522.436571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1522.436571 # Seafloor depth: -1597.436571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.807207 meters # Minimum depth: 1558.250162 meters looking forward 0.000000 meters along route # Maximum depth: 1558.250162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1483.250162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728935; longitude = -122.721600; captureRadius = 10; duration = 207; initialDepth = 1419.673009; finalDepth = 1483.250162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1483.250162 # Seafloor depth: -1558.250162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.807525 meters # Minimum depth: 1494.673009 meters looking forward 0.000000 meters along route # Maximum depth: 1494.673009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.673009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728171; longitude = -122.722263; captureRadius = 10; duration = 207; initialDepth = 1361.912318; finalDepth = 1419.673009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1419.673009 # Seafloor depth: -1494.673009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.807842 meters # Minimum depth: 1436.912318 meters looking forward 0.000000 meters along route # Maximum depth: 1436.912318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1361.912318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727407; longitude = -122.722926; captureRadius = 10; duration = 207; initialDepth = 1308.574036; finalDepth = 1361.912318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1361.912318 # Seafloor depth: -1436.912318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.087020 meters # Minimum depth: 1383.574036 meters looking forward 0.000000 meters along route # Maximum depth: 1383.574036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1308.574036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726643; longitude = -122.723589; captureRadius = 10; duration = 208; initialDepth = 1254.879608; finalDepth = 1308.574036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1308.574036 # Seafloor depth: -1383.574036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.529619 meters # Minimum depth: 1329.879608 meters looking forward 0.000000 meters along route # Maximum depth: 1329.879608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1254.879608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725877; longitude = -122.724253; captureRadius = 10; duration = 207; initialDepth = 1257.705074; finalDepth = 1254.879608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1254.879608 # Seafloor depth: -1329.879608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.645379 meters # Minimum depth: 1332.705074 meters looking forward 0.000000 meters along route # Maximum depth: 1332.705074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1257.705074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725115; longitude = -122.724914; captureRadius = 10; duration = 209; initialDepth = 1259.042631; finalDepth = 1257.705074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1257.705074 # Seafloor depth: -1332.705074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.972533 meters # Minimum depth: 1334.042631 meters looking forward 0.000000 meters along route # Maximum depth: 1334.042631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1259.042631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724344; longitude = -122.725583; captureRadius = 10; duration = 205; initialDepth = 1300.833487; finalDepth = 1259.042631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1259.042631 # Seafloor depth: -1334.042631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.203745 meters # Minimum depth: 1375.833487 meters looking forward 0.000000 meters along route # Maximum depth: 1375.833487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1300.833487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723587; longitude = -122.726240; captureRadius = 10; duration = 210; initialDepth = 1345.440773; finalDepth = 1300.833487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1300.833487 # Seafloor depth: -1375.833487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.415438 meters # Minimum depth: 1420.440773 meters looking forward 0.000000 meters along route # Maximum depth: 1420.440773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1345.440773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722812; longitude = -122.726912; captureRadius = 10; duration = 204; initialDepth = 1393.197875; finalDepth = 1345.440773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1345.440773 # Seafloor depth: -1420.440773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.762119 meters # Minimum depth: 1490.648200 meters looking forward 0.000000 meters along route # Maximum depth: 1490.648200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1393.197875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722058; longitude = -122.727566; captureRadius = 10; duration = 211; initialDepth = 1442.515560; finalDepth = 1393.197875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.4503248753333 # Actual altitude: 97.4503248753333 # Commanded vehicle depth: 1393.19787512467 # Seafloor depth: -1490.648200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.858337 meters # Minimum depth: 1564.523879 meters looking forward 0.000000 meters along route # Maximum depth: 1564.523879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.515560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721280; longitude = -122.728241; captureRadius = 10; duration = 203; initialDepth = 1490.012882; finalDepth = 1442.515560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.008318801293 # Actual altitude: 100 # Commanded vehicle depth: 1442.51556019871 # Seafloor depth: -1564.523879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.320498 meters # Minimum depth: 1581.936063 meters looking forward 0.000000 meters along route # Maximum depth: 1581.936063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.012882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720530; longitude = -122.728892; captureRadius = 10; duration = 212; initialDepth = 1513.993944; finalDepth = 1490.012882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.008318801293 # Actual altitude: 100 # Commanded vehicle depth: 1490.01288186575 # Seafloor depth: -1581.936063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.301230 meters # Minimum depth: 1588.993944 meters looking forward 0.000000 meters along route # Maximum depth: 1588.993944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1513.993944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719748; longitude = -122.729571; captureRadius = 10; duration = 202; initialDepth = 1543.255398; finalDepth = 1513.993944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.9231811342463 # Actual altitude: 91.9231811342463 # Commanded vehicle depth: 1513.993944 # Seafloor depth: -1588.993944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.878885 meters # Minimum depth: 1618.255398 meters looking forward 0.000000 meters along route # Maximum depth: 1618.255398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1543.255398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719002; longitude = -122.730218; captureRadius = 10; duration = 213; initialDepth = 1593.093840; finalDepth = 1543.255398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1543.255398 # Seafloor depth: -1618.255398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.744116 meters # Minimum depth: 1672.431023 meters looking forward 0.000000 meters along route # Maximum depth: 1672.431023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1593.093840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718215; longitude = -122.730900; captureRadius = 10; duration = 201; initialDepth = 1623.804574; finalDepth = 1593.093840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3371833979088 # Actual altitude: 79.3371833979088 # Commanded vehicle depth: 1593.09383960209 # Seafloor depth: -1672.431023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.437279 meters # Minimum depth: 1698.804574 meters looking forward 0.000000 meters along route # Maximum depth: 1698.804574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1623.804574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717474; longitude = -122.731543; captureRadius = 10; duration = 214; initialDepth = 1651.924534; finalDepth = 1623.804574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3371833979088 # Actual altitude: 79.3371833979088 # Commanded vehicle depth: 1623.804574 # Seafloor depth: -1698.804574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.186994 meters # Minimum depth: 1726.924534 meters looking forward 0.000000 meters along route # Maximum depth: 1726.924534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1651.924534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716683; longitude = -122.732230; captureRadius = 10; duration = 200; initialDepth = 1676.598185; finalDepth = 1651.924534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1651.924534 # Seafloor depth: -1726.924534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.812613 meters # Minimum depth: 1751.598185 meters looking forward 0.000000 meters along route # Maximum depth: 1751.598185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1676.598185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715946; longitude = -122.732869; captureRadius = 10; duration = 207; initialDepth = 1681.059826; finalDepth = 1676.598185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1676.598185 # Seafloor depth: -1751.598185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.812932 meters # Minimum depth: 1756.059826 meters looking forward 0.000000 meters along route # Maximum depth: 1756.059826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1681.059826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715182; longitude = -122.733532; captureRadius = 10; duration = 207; initialDepth = 1682.246187; finalDepth = 1681.059826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1681.059826 # Seafloor depth: -1756.059826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.813250 meters # Minimum depth: 1757.246187 meters looking forward 0.000000 meters along route # Maximum depth: 1757.246187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.246187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714417; longitude = -122.734195; captureRadius = 10; duration = 207; initialDepth = 1678.253090; finalDepth = 1682.246187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.246187 # Seafloor depth: -1757.246187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.813568 meters # Minimum depth: 1753.253090 meters looking forward 0.000000 meters along route # Maximum depth: 1753.253090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1678.253090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713653; longitude = -122.734858; captureRadius = 10; duration = 207; initialDepth = 1668.355822; finalDepth = 1678.253090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1678.25309 # Seafloor depth: -1753.253090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.813886 meters # Minimum depth: 1743.355822 meters looking forward 0.000000 meters along route # Maximum depth: 1743.355822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.355822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712889; longitude = -122.735521; captureRadius = 10; duration = 207; initialDepth = 1635.746176; finalDepth = 1668.355822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.355822 # Seafloor depth: -1743.355822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.814204 meters # Minimum depth: 1710.746176 meters looking forward 0.000000 meters along route # Maximum depth: 1710.746176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.746176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712125; longitude = -122.736184; captureRadius = 10; duration = 207; initialDepth = 1596.184374; finalDepth = 1635.746176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.746176 # Seafloor depth: -1710.746176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.814522 meters # Minimum depth: 1671.184374 meters looking forward 0.000000 meters along route # Maximum depth: 1671.184374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1596.184374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711361; longitude = -122.736847; captureRadius = 10; duration = 207; initialDepth = 1570.105662; finalDepth = 1596.184374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1596.184374 # Seafloor depth: -1671.184374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.826966 meters # Minimum depth: 1645.105662 meters looking forward 0.000000 meters along route # Maximum depth: 1645.105662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1570.105662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710597; longitude = -122.737510; captureRadius = 10; duration = 207; initialDepth = 1556.362844; finalDepth = 1570.105662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1570.105662 # Seafloor depth: -1645.105662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.803033 meters # Minimum depth: 1631.362844 meters looking forward 0.000000 meters along route # Maximum depth: 1631.362844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1556.362844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709833; longitude = -122.738173; captureRadius = 10; duration = 207; initialDepth = 1526.080611; finalDepth = 1556.362844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1556.362844 # Seafloor depth: -1631.362844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.385360 meters # Minimum depth: 1601.080611 meters looking forward 0.000000 meters along route # Maximum depth: 1601.080611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1526.080611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709069; longitude = -122.738835; captureRadius = 10; duration = 208; initialDepth = 1509.346090; finalDepth = 1526.080611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1526.080611 # Seafloor depth: -1601.080611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.245912 meters # Minimum depth: 1584.346090 meters looking forward 0.000000 meters along route # Maximum depth: 1584.346090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.346090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708301; longitude = -122.739502; captureRadius = 10; duration = 206; initialDepth = 1527.342963; finalDepth = 1509.346090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1509.34609 # Seafloor depth: -1584.346090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.943760 meters # Minimum depth: 1602.342963 meters looking forward 0.000000 meters along route # Maximum depth: 1602.342963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1527.342963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707541; longitude = -122.740161; captureRadius = 10; duration = 209; initialDepth = 1572.255570; finalDepth = 1527.342963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1527.342963 # Seafloor depth: -1602.342963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 110.218580 meters # Minimum depth: 1647.255570 meters looking forward 0.000000 meters along route # Maximum depth: 1647.255570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.255570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706768; longitude = -122.740831; captureRadius = 10; duration = 220; initialDepth = 1586.420243; finalDepth = 1572.255570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.25557 # Seafloor depth: -1647.255570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.054560 meters # Minimum depth: 1661.420243 meters looking forward 0.000000 meters along route # Maximum depth: 1661.420243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1586.420243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705957; longitude = -122.741535; captureRadius = 10; duration = 204; initialDepth = 1585.321777; finalDepth = 1586.420243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1586.420243 # Seafloor depth: -1661.420243 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 93.848921 meters # Minimum depth: 1660.321777 meters looking forward 0.000000 meters along route # Maximum depth: 1660.321777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1585.321777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705206; longitude = -122.742187; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 1580.950138; finalDepth = 1585.321777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1585.321777 # Seafloor depth: -1660.321777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.151079 meters # Minimum depth: 1655.950138 meters looking forward 0.000000 meters along route # Maximum depth: 1655.950138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1580.950138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705694; longitude = -122.743034; captureRadius = 10; duration = 212; initialDepth = 1579.205414; finalDepth = 1580.950138; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1580.950138 # Seafloor depth: -1655.950138 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 115.440291 meters # Minimum depth: 1654.205414 meters looking forward 0.000000 meters along route # Maximum depth: 1654.205414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1579.205414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706247; longitude = -122.743992; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 1543.406410; finalDepth = 1579.205414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1579.205414 # Seafloor depth: -1654.205414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.817742 meters # Minimum depth: 1618.406410 meters looking forward 0.000000 meters along route # Maximum depth: 1618.406410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1543.406410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707097; longitude = -122.743255; captureRadius = 10; duration = 207; initialDepth = 1495.009066; finalDepth = 1543.406410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1543.40641 # Seafloor depth: -1618.406410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.817424 meters # Minimum depth: 1570.009066 meters looking forward 0.000000 meters along route # Maximum depth: 1570.009066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1495.009066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707861; longitude = -122.742592; captureRadius = 10; duration = 207; initialDepth = 1439.775218; finalDepth = 1495.009066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1495.009066 # Seafloor depth: -1570.009066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.817105 meters # Minimum depth: 1514.775218 meters looking forward 0.000000 meters along route # Maximum depth: 1514.775218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1439.775218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708625; longitude = -122.741929; captureRadius = 10; duration = 207; initialDepth = 1438.880173; finalDepth = 1439.775218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1439.775218 # Seafloor depth: -1514.775218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.816788 meters # Minimum depth: 1513.880173 meters looking forward 0.000000 meters along route # Maximum depth: 1513.880173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1438.880173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709389; longitude = -122.741266; captureRadius = 10; duration = 207; initialDepth = 1464.810230; finalDepth = 1438.880173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1438.880173 # Seafloor depth: -1513.880173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.816469 meters # Minimum depth: 1539.810230 meters looking forward 0.000000 meters along route # Maximum depth: 1539.810230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1464.810230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710153; longitude = -122.740603; captureRadius = 10; duration = 207; initialDepth = 1508.954511; finalDepth = 1464.810230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1464.81023 # Seafloor depth: -1539.810230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.816151 meters # Minimum depth: 1583.954511 meters looking forward 0.000000 meters along route # Maximum depth: 1583.954511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1508.954511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710917; longitude = -122.739940; captureRadius = 10; duration = 207; initialDepth = 1507.669219; finalDepth = 1508.954511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1508.954511 # Seafloor depth: -1583.954511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.983063 meters # Minimum depth: 1582.669219 meters looking forward 0.000000 meters along route # Maximum depth: 1582.669219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1507.669219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711681; longitude = -122.739277; captureRadius = 10; duration = 207; initialDepth = 1529.137944; finalDepth = 1507.669219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1507.669219 # Seafloor depth: -1582.669219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.648284 meters # Minimum depth: 1604.137944 meters looking forward 0.000000 meters along route # Maximum depth: 1604.137944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1529.137944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712447; longitude = -122.738613; captureRadius = 10; duration = 207; initialDepth = 1552.045686; finalDepth = 1529.137944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1529.137944 # Seafloor depth: -1604.137944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.534833 meters # Minimum depth: 1627.045686 meters looking forward 0.000000 meters along route # Maximum depth: 1627.045686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1552.045686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713210; longitude = -122.737952; captureRadius = 10; duration = 209; initialDepth = 1561.645951; finalDepth = 1552.045686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1552.045686 # Seafloor depth: -1627.045686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.095242 meters # Minimum depth: 1636.645951 meters looking forward 0.000000 meters along route # Maximum depth: 1636.645951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1561.645951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713979; longitude = -122.737284; captureRadius = 10; duration = 206; initialDepth = 1588.601227; finalDepth = 1561.645951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1561.645951 # Seafloor depth: -1636.645951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.086596 meters # Minimum depth: 1663.601227 meters looking forward 0.000000 meters along route # Maximum depth: 1663.601227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1588.601227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714738; longitude = -122.736626; captureRadius = 10; duration = 210; initialDepth = 1612.012063; finalDepth = 1588.601227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1588.601227 # Seafloor depth: -1663.601227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.542207 meters # Minimum depth: 1687.012063 meters looking forward 0.000000 meters along route # Maximum depth: 1687.012063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1612.012063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715511; longitude = -122.735955; captureRadius = 10; duration = 205; initialDepth = 1624.888905; finalDepth = 1612.012063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1612.012063 # Seafloor depth: -1687.012063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.638351 meters # Minimum depth: 1699.888905 meters looking forward 0.000000 meters along route # Maximum depth: 1699.888905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.888905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716266; longitude = -122.735300; captureRadius = 10; duration = 211; initialDepth = 1628.823698; finalDepth = 1624.888905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.888905 # Seafloor depth: -1699.888905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.989178 meters # Minimum depth: 1703.823698 meters looking forward 0.000000 meters along route # Maximum depth: 1703.823698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1628.823698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717044; longitude = -122.734625; captureRadius = 10; duration = 203; initialDepth = 1622.380221; finalDepth = 1628.823698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1628.823698 # Seafloor depth: -1703.823698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.190101 meters # Minimum depth: 1697.380221 meters looking forward 0.000000 meters along route # Maximum depth: 1697.380221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1622.380221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717794; longitude = -122.733974; captureRadius = 10; duration = 212; initialDepth = 1615.171050; finalDepth = 1622.380221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1622.380221 # Seafloor depth: -1697.380221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.436157 meters # Minimum depth: 1690.171050 meters looking forward 0.000000 meters along route # Maximum depth: 1690.171050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1615.171050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718576; longitude = -122.733296; captureRadius = 10; duration = 202; initialDepth = 1611.083887; finalDepth = 1615.171050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1615.17105 # Seafloor depth: -1690.171050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.741843 meters # Minimum depth: 1686.083887 meters looking forward 0.000000 meters along route # Maximum depth: 1686.083887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1611.083887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719322; longitude = -122.732648; captureRadius = 10; duration = 213; initialDepth = 1592.311232; finalDepth = 1611.083887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1611.083887 # Seafloor depth: -1686.083887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.883141 meters # Minimum depth: 1667.311232 meters looking forward 0.000000 meters along route # Maximum depth: 1667.311232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1592.311232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720108; longitude = -122.731967; captureRadius = 10; duration = 201; initialDepth = 1583.071570; finalDepth = 1592.311232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1592.311232 # Seafloor depth: -1667.311232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.293580 meters # Minimum depth: 1658.071570 meters looking forward 0.000000 meters along route # Maximum depth: 1658.071570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1583.071570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720851; longitude = -122.731323; captureRadius = 10; duration = 214; initialDepth = 1560.151376; finalDepth = 1583.071570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1583.07157 # Seafloor depth: -1658.071570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.330133 meters # Minimum depth: 1635.151376 meters looking forward 0.000000 meters along route # Maximum depth: 1635.151376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1560.151376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721640; longitude = -122.730637; captureRadius = 10; duration = 200; initialDepth = 1528.729971; finalDepth = 1560.151376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1560.151376 # Seafloor depth: -1635.151376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.811379 meters # Minimum depth: 1603.729971 meters looking forward 0.000000 meters along route # Maximum depth: 1603.729971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1528.729971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722379; longitude = -122.729997; captureRadius = 10; duration = 207; initialDepth = 1502.979113; finalDepth = 1528.729971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1528.729971 # Seafloor depth: -1603.729971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.811061 meters # Minimum depth: 1577.979113 meters looking forward 0.000000 meters along route # Maximum depth: 1577.979113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.979113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723143; longitude = -122.729334; captureRadius = 10; duration = 207; initialDepth = 1462.875888; finalDepth = 1502.979113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1502.979113 # Seafloor depth: -1577.979113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.810742 meters # Minimum depth: 1537.875888 meters looking forward 0.000000 meters along route # Maximum depth: 1537.875888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.875888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723907; longitude = -122.728671; captureRadius = 10; duration = 207; initialDepth = 1412.260033; finalDepth = 1462.875888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.875888 # Seafloor depth: -1537.875888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.810425 meters # Minimum depth: 1487.260033 meters looking forward 0.000000 meters along route # Maximum depth: 1487.260033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.260033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724671; longitude = -122.728008; captureRadius = 10; duration = 207; initialDepth = 1372.272780; finalDepth = 1412.260033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1412.260033 # Seafloor depth: -1487.260033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.810107 meters # Minimum depth: 1447.272780 meters looking forward 0.000000 meters along route # Maximum depth: 1447.272780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1372.272780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725435; longitude = -122.727345; captureRadius = 10; duration = 207; initialDepth = 1347.064446; finalDepth = 1372.272780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1372.27278 # Seafloor depth: -1447.272780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.809788 meters # Minimum depth: 1422.064446 meters looking forward 0.000000 meters along route # Maximum depth: 1422.064446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1347.064446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726199; longitude = -122.726682; captureRadius = 10; duration = 207; initialDepth = 1345.461431; finalDepth = 1347.064446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1347.064446 # Seafloor depth: -1422.064446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.809471 meters # Minimum depth: 1420.461431 meters looking forward 0.000000 meters along route # Maximum depth: 1420.461431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1345.461431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726964; longitude = -122.726019; captureRadius = 10; duration = 207; initialDepth = 1379.930388; finalDepth = 1345.461431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1345.461431 # Seafloor depth: -1420.461431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.809152 meters # Minimum depth: 1454.930388 meters looking forward 0.000000 meters along route # Maximum depth: 1454.930388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1379.930388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727728; longitude = -122.725356; captureRadius = 10; duration = 207; initialDepth = 1398.175785; finalDepth = 1379.930388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1379.930388 # Seafloor depth: -1454.930388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.808835 meters # Minimum depth: 1473.175785 meters looking forward 0.000000 meters along route # Maximum depth: 1473.175785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1398.175785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728492; longitude = -122.724693; captureRadius = 10; duration = 207; initialDepth = 1446.582639; finalDepth = 1398.175785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1398.175785 # Seafloor depth: -1473.175785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.205385 meters # Minimum depth: 1541.343367 meters looking forward 0.000000 meters along route # Maximum depth: 1541.343367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1446.582639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729256; longitude = -122.724030; captureRadius = 10; duration = 208; initialDepth = 1495.174407; finalDepth = 1446.582639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.7607281960111 # Actual altitude: 94.7607281960111 # Commanded vehicle depth: 1446.58263880399 # Seafloor depth: -1541.343367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.411329 meters # Minimum depth: 1588.985844 meters looking forward 0.000000 meters along route # Maximum depth: 1588.985844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1495.174407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730023; longitude = -122.723365; captureRadius = 10; duration = 206; initialDepth = 1543.395901; finalDepth = 1495.174407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.7607281960111 # Actual altitude: 94.7607281960111 # Commanded vehicle depth: 1495.17440690623 # Seafloor depth: -1588.985844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.757115 meters # Minimum depth: 1629.482340 meters looking forward 0.000000 meters along route # Maximum depth: 1629.482340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1543.395901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730784; longitude = -122.722705; captureRadius = 10; duration = 209; initialDepth = 1592.244945; finalDepth = 1543.395901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.8114370937735 # Actual altitude: 93.8114370937735 # Commanded vehicle depth: 1543.39590062185 # Seafloor depth: -1629.482340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.858328 meters # Minimum depth: 1689.662405 meters looking forward 0.000000 meters along route # Maximum depth: 1689.662405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1592.244945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731555; longitude = -122.722036; captureRadius = 10; duration = 205; initialDepth = 1628.320319; finalDepth = 1592.244945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.4174603566739 # Actual altitude: 97.4174603566739 # Commanded vehicle depth: 1592.24494464333 # Seafloor depth: -1689.662405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.308837 meters # Minimum depth: 1703.320319 meters looking forward 0.000000 meters along route # Maximum depth: 1703.320319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1628.320319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732312; longitude = -122.721379; captureRadius = 10; duration = 210; initialDepth = 1656.169179; finalDepth = 1628.320319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.4174603566739 # Actual altitude: 97.4174603566739 # Commanded vehicle depth: 1628.320319 # Seafloor depth: -1703.320319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.305333 meters # Minimum depth: 1731.169179 meters looking forward 0.000000 meters along route # Maximum depth: 1731.169179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1656.169179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733088; longitude = -122.720706; captureRadius = 10; duration = 204; initialDepth = 1687.724865; finalDepth = 1656.169179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1656.169179 # Seafloor depth: -1731.169179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.860553 meters # Minimum depth: 1762.724865 meters looking forward 0.000000 meters along route # Maximum depth: 1762.724865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.724865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733841; longitude = -122.720053; captureRadius = 10; duration = 211; initialDepth = 1700.359644; finalDepth = 1687.724865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.724865 # Seafloor depth: -1762.724865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.752345 meters # Minimum depth: 1775.359644 meters looking forward 0.000000 meters along route # Maximum depth: 1775.359644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.359644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734620; longitude = -122.719377; captureRadius = 10; duration = 203; initialDepth = 1691.571676; finalDepth = 1700.359644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1700.359644 # Seafloor depth: -1775.359644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.412262 meters # Minimum depth: 1766.571676 meters looking forward 0.000000 meters along route # Maximum depth: 1766.571676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.571676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735369; longitude = -122.718727; captureRadius = 10; duration = 212; initialDepth = 1679.191979; finalDepth = 1691.571676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.571676 # Seafloor depth: -1766.571676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.199364 meters # Minimum depth: 1754.191979 meters looking forward 0.000000 meters along route # Maximum depth: 1754.191979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.191979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736152; longitude = -122.718048; captureRadius = 10; duration = 202; initialDepth = 1692.855350; finalDepth = 1679.191979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1679.191979 # Seafloor depth: -1754.191979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.963965 meters # Minimum depth: 1767.855350 meters looking forward 0.000000 meters along route # Maximum depth: 1767.855350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1692.855350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736897; longitude = -122.717401; captureRadius = 10; duration = 213; initialDepth = 1696.339888; finalDepth = 1692.855350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1692.85535 # Seafloor depth: -1767.855350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.646389 meters # Minimum depth: 1771.339888 meters looking forward 0.000000 meters along route # Maximum depth: 1771.339888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1696.339888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737684; longitude = -122.716718; captureRadius = 10; duration = 201; initialDepth = 1693.900182; finalDepth = 1696.339888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1696.339888 # Seafloor depth: -1771.339888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.515661 meters # Minimum depth: 1768.900182 meters looking forward 0.000000 meters along route # Maximum depth: 1768.900182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.900182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738425; longitude = -122.716076; captureRadius = 10; duration = 215; initialDepth = 1691.586453; finalDepth = 1693.900182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1693.900182 # Seafloor depth: -1768.900182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.093421 meters # Minimum depth: 1766.586453 meters looking forward 0.000000 meters along route # Maximum depth: 1766.586453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.586453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739217; longitude = -122.715389; captureRadius = 10; duration = 200; initialDepth = 1688.427078; finalDepth = 1691.586453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.586453 # Seafloor depth: -1766.586453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.804064 meters # Minimum depth: 1763.427078 meters looking forward 0.000000 meters along route # Maximum depth: 1763.427078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.427078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739953; longitude = -122.714750; captureRadius = 10; duration = 207; initialDepth = 1688.614912; finalDepth = 1688.427078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1688.427078 # Seafloor depth: -1763.427078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.803747 meters # Minimum depth: 1763.614912 meters looking forward 0.000000 meters along route # Maximum depth: 1763.614912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1688.614912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740718; longitude = -122.714087; captureRadius = 10; duration = 207; initialDepth = 1691.975214; finalDepth = 1688.614912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1688.614912 # Seafloor depth: -1763.614912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.803428 meters # Minimum depth: 1766.975214 meters looking forward 0.000000 meters along route # Maximum depth: 1766.975214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.975214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741482; longitude = -122.713424; captureRadius = 10; duration = 207; initialDepth = 1694.983458; finalDepth = 1691.975214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.975214 # Seafloor depth: -1766.975214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.803110 meters # Minimum depth: 1769.983458 meters looking forward 0.000000 meters along route # Maximum depth: 1769.983458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.983458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742246; longitude = -122.712761; captureRadius = 10; duration = 207; initialDepth = 1697.834476; finalDepth = 1694.983458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.983458 # Seafloor depth: -1769.983458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.802792 meters # Minimum depth: 1772.834476 meters looking forward 0.000000 meters along route # Maximum depth: 1772.834476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1697.834476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743010; longitude = -122.712098; captureRadius = 10; duration = 207; initialDepth = 1698.583547; finalDepth = 1697.834476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1697.834476 # Seafloor depth: -1772.834476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.802474 meters # Minimum depth: 1773.583547 meters looking forward 0.000000 meters along route # Maximum depth: 1773.583547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.583547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743774; longitude = -122.711435; captureRadius = 10; duration = 207; initialDepth = 1698.620847; finalDepth = 1698.583547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.583547 # Seafloor depth: -1773.583547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.802157 meters # Minimum depth: 1773.620847 meters looking forward 0.000000 meters along route # Maximum depth: 1773.620847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1698.620847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744538; longitude = -122.710772; captureRadius = 10; duration = 207; initialDepth = 1700.398590; finalDepth = 1698.620847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1698.620847 # Seafloor depth: -1773.620847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.875981 meters # Minimum depth: 1775.398590 meters looking forward 0.000000 meters along route # Maximum depth: 1775.398590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.398590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745302; longitude = -122.710109; captureRadius = 10; duration = 207; initialDepth = 1705.508719; finalDepth = 1700.398590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1700.39859 # Seafloor depth: -1775.398590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.727377 meters # Minimum depth: 1780.508719 meters looking forward 0.000000 meters along route # Maximum depth: 1780.508719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.508719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746067; longitude = -122.709446; captureRadius = 10; duration = 207; initialDepth = 1701.995959; finalDepth = 1705.508719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.508719 # Seafloor depth: -1780.508719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.427678 meters # Minimum depth: 1776.995959 meters looking forward 0.000000 meters along route # Maximum depth: 1776.995959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.995959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746830; longitude = -122.708784; captureRadius = 10; duration = 208; initialDepth = 1677.241823; finalDepth = 1701.995959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1701.995959 # Seafloor depth: -1776.995959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.174409 meters # Minimum depth: 1752.241823 meters looking forward 0.000000 meters along route # Maximum depth: 1752.241823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1677.241823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747599; longitude = -122.708117; captureRadius = 10; duration = 206; initialDepth = 1642.593438; finalDepth = 1677.241823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1677.241823 # Seafloor depth: -1752.241823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.639205 meters # Minimum depth: 1717.593438 meters looking forward 0.000000 meters along route # Maximum depth: 1717.593438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.593438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748359; longitude = -122.707458; captureRadius = 10; duration = 207; initialDepth = 1619.885162; finalDepth = 1642.593438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.593438 # Seafloor depth: -1717.593438 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 97.786794 meters # Minimum depth: 1694.885162 meters looking forward 0.000000 meters along route # Maximum depth: 1694.885162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1619.885162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749122; longitude = -122.706796; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 1626.351034; finalDepth = 1619.885162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1619.885162 # Seafloor depth: -1694.885162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.213206 meters # Minimum depth: 1701.351034 meters looking forward 0.000000 meters along route # Maximum depth: 1701.351034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1626.351034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749631; longitude = -122.707679; captureRadius = 10; duration = 204; initialDepth = 1623.963684; finalDepth = 1626.351034; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1626.351034 # Seafloor depth: -1701.351034 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 115.676297 meters # Minimum depth: 1698.963684 meters looking forward 0.000000 meters along route # Maximum depth: 1698.963684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1623.963684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750163; longitude = -122.708602; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 1635.325977; finalDepth = 1623.963684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1623.963684 # Seafloor depth: -1698.963684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.131295 meters # Minimum depth: 1710.325977 meters looking forward 0.000000 meters along route # Maximum depth: 1710.325977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.325977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749312; longitude = -122.709340; captureRadius = 10; duration = 206; initialDepth = 1658.119396; finalDepth = 1635.325977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.325977 # Seafloor depth: -1710.325977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.020515 meters # Minimum depth: 1733.119396 meters looking forward 0.000000 meters along route # Maximum depth: 1733.119396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1658.119396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748553; longitude = -122.709999; captureRadius = 10; duration = 210; initialDepth = 1691.881318; finalDepth = 1658.119396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1658.119396 # Seafloor depth: -1733.119396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.584933 meters # Minimum depth: 1766.881318 meters looking forward 0.000000 meters along route # Maximum depth: 1766.881318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1691.881318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747779; longitude = -122.710670; captureRadius = 10; duration = 205; initialDepth = 1706.784454; finalDepth = 1691.881318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1691.881318 # Seafloor depth: -1766.881318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.568156 meters # Minimum depth: 1781.784454 meters looking forward 0.000000 meters along route # Maximum depth: 1781.784454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1706.784454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747024; longitude = -122.711325; captureRadius = 10; duration = 211; initialDepth = 1704.868571; finalDepth = 1706.784454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1706.784454 # Seafloor depth: -1781.784454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.038564 meters # Minimum depth: 1779.868571 meters looking forward 0.000000 meters along route # Maximum depth: 1779.868571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.868571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746247; longitude = -122.711999; captureRadius = 10; duration = 204; initialDepth = 1702.878687; finalDepth = 1704.868571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.868571 # Seafloor depth: -1779.868571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.115803 meters # Minimum depth: 1777.878687 meters looking forward 0.000000 meters along route # Maximum depth: 1777.878687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1702.878687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745496; longitude = -122.712651; captureRadius = 10; duration = 212; initialDepth = 1705.660008; finalDepth = 1702.878687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1702.878687 # Seafloor depth: -1777.878687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.492188 meters # Minimum depth: 1780.660008 meters looking forward 0.000000 meters along route # Maximum depth: 1780.660008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1705.660008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744715; longitude = -122.713328; captureRadius = 10; duration = 202; initialDepth = 1692.765764; finalDepth = 1705.660008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1705.660008 # Seafloor depth: -1780.660008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.663458 meters # Minimum depth: 1767.765764 meters looking forward 0.000000 meters along route # Maximum depth: 1767.765764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1692.765764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743968; longitude = -122.713976; captureRadius = 10; duration = 213; initialDepth = 1668.137498; finalDepth = 1692.765764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1692.765764 # Seafloor depth: -1767.765764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.945806 meters # Minimum depth: 1743.137498 meters looking forward 0.000000 meters along route # Maximum depth: 1743.137498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.137498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743183; longitude = -122.714658; captureRadius = 10; duration = 201; initialDepth = 1668.171347; finalDepth = 1668.137498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.137498 # Seafloor depth: -1743.137498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.211119 meters # Minimum depth: 1743.171347 meters looking forward 0.000000 meters along route # Maximum depth: 1743.171347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.171347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742439; longitude = -122.715302; captureRadius = 10; duration = 214; initialDepth = 1658.200486; finalDepth = 1668.171347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1668.171347 # Seafloor depth: -1743.171347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.399417 meters # Minimum depth: 1733.200486 meters looking forward 0.000000 meters along route # Maximum depth: 1733.200486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1658.200486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741650; longitude = -122.715987; captureRadius = 10; duration = 200; initialDepth = 1646.890404; finalDepth = 1658.200486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1658.200486 # Seafloor depth: -1733.200486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.805744 meters # Minimum depth: 1721.890404 meters looking forward 0.000000 meters along route # Maximum depth: 1721.890404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1646.890404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740911; longitude = -122.716628; captureRadius = 10; duration = 207; initialDepth = 1636.272130; finalDepth = 1646.890404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1646.890404 # Seafloor depth: -1721.890404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.806063 meters # Minimum depth: 1711.272130 meters looking forward 0.000000 meters along route # Maximum depth: 1711.272130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1636.272130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740147; longitude = -122.717291; captureRadius = 10; duration = 207; initialDepth = 1629.974482; finalDepth = 1636.272130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1636.27213 # Seafloor depth: -1711.272130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.806381 meters # Minimum depth: 1704.974482 meters looking forward 0.000000 meters along route # Maximum depth: 1704.974482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.974482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739383; longitude = -122.717954; captureRadius = 10; duration = 207; initialDepth = 1631.627902; finalDepth = 1629.974482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.974482 # Seafloor depth: -1704.974482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.806699 meters # Minimum depth: 1706.627902 meters looking forward 0.000000 meters along route # Maximum depth: 1706.627902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1631.627902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738619; longitude = -122.718617; captureRadius = 10; duration = 207; initialDepth = 1657.745655; finalDepth = 1631.627902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1631.627902 # Seafloor depth: -1706.627902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.807017 meters # Minimum depth: 1732.745655 meters looking forward 0.000000 meters along route # Maximum depth: 1732.745655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1657.745655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737855; longitude = -122.719280; captureRadius = 10; duration = 207; initialDepth = 1671.193863; finalDepth = 1657.745655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1657.745655 # Seafloor depth: -1732.745655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.807335 meters # Minimum depth: 1746.193863 meters looking forward 0.000000 meters along route # Maximum depth: 1746.193863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.193863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737091; longitude = -122.719943; captureRadius = 10; duration = 207; initialDepth = 1646.613718; finalDepth = 1671.193863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1671.193863 # Seafloor depth: -1746.193863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.807653 meters # Minimum depth: 1721.613718 meters looking forward 0.000000 meters along route # Maximum depth: 1721.613718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1646.613718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736326; longitude = -122.720605; captureRadius = 10; duration = 207; initialDepth = 1624.515203; finalDepth = 1646.613718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1646.613718 # Seafloor depth: -1721.613718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.807971 meters # Minimum depth: 1699.515203 meters looking forward 0.000000 meters along route # Maximum depth: 1699.515203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1624.515203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735562; longitude = -122.721268; captureRadius = 10; duration = 207; initialDepth = 1634.478445; finalDepth = 1624.515203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1624.515203 # Seafloor depth: -1699.515203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.808289 meters # Minimum depth: 1709.478445 meters looking forward 0.000000 meters along route # Maximum depth: 1709.478445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1634.478445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734798; longitude = -122.721931; captureRadius = 10; duration = 207; initialDepth = 1635.700243; finalDepth = 1634.478445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1634.478445 # Seafloor depth: -1709.478445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.100887 meters # Minimum depth: 1710.700243 meters looking forward 0.000000 meters along route # Maximum depth: 1710.700243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.700243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734034; longitude = -122.722594; captureRadius = 10; duration = 208; initialDepth = 1572.852254; finalDepth = 1635.700243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.700243 # Seafloor depth: -1710.700243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.516646 meters # Minimum depth: 1647.852254 meters looking forward 0.000000 meters along route # Maximum depth: 1647.852254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.852254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733268; longitude = -122.723259; captureRadius = 10; duration = 207; initialDepth = 1521.549660; finalDepth = 1572.852254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.852254 # Seafloor depth: -1647.852254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.648554 meters # Minimum depth: 1596.549660 meters looking forward 0.000000 meters along route # Maximum depth: 1596.549660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1521.549660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732506; longitude = -122.723920; captureRadius = 10; duration = 209; initialDepth = 1471.842868; finalDepth = 1521.549660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1521.54966 # Seafloor depth: -1596.549660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.970250 meters # Minimum depth: 1546.842868 meters looking forward 0.000000 meters along route # Maximum depth: 1546.842868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1471.842868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731735; longitude = -122.724588; captureRadius = 10; duration = 205; initialDepth = 1450.746721; finalDepth = 1471.842868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1471.842868 # Seafloor depth: -1546.842868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.196229 meters # Minimum depth: 1525.746721 meters looking forward 0.000000 meters along route # Maximum depth: 1525.746721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1450.746721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730978; longitude = -122.725246; captureRadius = 10; duration = 210; initialDepth = 1440.822192; finalDepth = 1450.746721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1450.746721 # Seafloor depth: -1525.746721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.423848 meters # Minimum depth: 1515.822192 meters looking forward 0.000000 meters along route # Maximum depth: 1515.822192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1440.822192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730203; longitude = -122.725918; captureRadius = 10; duration = 204; initialDepth = 1442.325339; finalDepth = 1440.822192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1440.822192 # Seafloor depth: -1515.822192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.743910 meters # Minimum depth: 1517.325339 meters looking forward 0.000000 meters along route # Maximum depth: 1517.325339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1442.325339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729449; longitude = -122.726572; captureRadius = 10; duration = 211; initialDepth = 1434.512232; finalDepth = 1442.325339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1442.325339 # Seafloor depth: -1517.325339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.877440 meters # Minimum depth: 1509.512232 meters looking forward 0.000000 meters along route # Maximum depth: 1509.512232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1434.512232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728671; longitude = -122.727247; captureRadius = 10; duration = 203; initialDepth = 1441.435952; finalDepth = 1434.512232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1434.512232 # Seafloor depth: -1509.512232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.291596 meters # Minimum depth: 1516.435952 meters looking forward 0.000000 meters along route # Maximum depth: 1516.435952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1441.435952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727921; longitude = -122.727897; captureRadius = 10; duration = 212; initialDepth = 1457.727352; finalDepth = 1441.435952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1441.435952 # Seafloor depth: -1516.435952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.331026 meters # Minimum depth: 1532.727352 meters looking forward 0.000000 meters along route # Maximum depth: 1532.727352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1457.727352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727139; longitude = -122.728576; captureRadius = 10; duration = 202; initialDepth = 1504.978785; finalDepth = 1457.727352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1457.727352 # Seafloor depth: -1532.727352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.839290 meters # Minimum depth: 1582.319160 meters looking forward 0.000000 meters along route # Maximum depth: 1582.319160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1504.978785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726393; longitude = -122.729223; captureRadius = 10; duration = 213; initialDepth = 1512.389572; finalDepth = 1504.978785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.3403754857036 # Actual altitude: 77.3403754857036 # Commanded vehicle depth: 1504.9787845143 # Seafloor depth: -1582.319160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.784604 meters # Minimum depth: 1587.389572 meters looking forward 0.000000 meters along route # Maximum depth: 1587.389572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.389572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725606; longitude = -122.729906; captureRadius = 10; duration = 201; initialDepth = 1484.145957; finalDepth = 1512.389572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.3403754857036 # Actual altitude: 77.3403754857036 # Commanded vehicle depth: 1512.389572 # Seafloor depth: -1587.389572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 309.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.386992 meters # Minimum depth: 1559.145957 meters looking forward 0.000000 meters along route # Maximum depth: 1559.145957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1484.145957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724865; longitude = -122.730549; captureRadius = 10; duration = 214; initialDepth = 1428.662206; finalDepth = 1484.145957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1484.145957 # Seafloor depth: -1559.145957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.238175 meters # Minimum depth: 1503.662206 meters looking forward 0.000000 meters along route # Maximum depth: 1503.662206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1428.662206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724074; longitude = -122.731235; captureRadius = 10; duration = 200; initialDepth = 1433.468313; finalDepth = 1428.662206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1428.662206 # Seafloor depth: -1503.662206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.813061 meters # Minimum depth: 1508.468313 meters looking forward 0.000000 meters along route # Maximum depth: 1508.468313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.468313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723336; longitude = -122.731875; captureRadius = 10; duration = 207; initialDepth = 1455.485181; finalDepth = 1433.468313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1433.468313 # Seafloor depth: -1508.468313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.813378 meters # Minimum depth: 1530.485181 meters looking forward 0.000000 meters along route # Maximum depth: 1530.485181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1455.485181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722572; longitude = -122.732538; captureRadius = 10; duration = 207; initialDepth = 1468.245313; finalDepth = 1455.485181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1455.485181 # Seafloor depth: -1530.485181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.813697 meters # Minimum depth: 1543.245313 meters looking forward 0.000000 meters along route # Maximum depth: 1543.245313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1468.245313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721808; longitude = -122.733201; captureRadius = 10; duration = 207; initialDepth = 1485.532806; finalDepth = 1468.245313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1468.245313 # Seafloor depth: -1543.245313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.814015 meters # Minimum depth: 1560.532806 meters looking forward 0.000000 meters along route # Maximum depth: 1560.532806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1485.532806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721044; longitude = -122.733864; captureRadius = 10; duration = 207; initialDepth = 1508.704568; finalDepth = 1485.532806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1485.532806 # Seafloor depth: -1560.532806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.814333 meters # Minimum depth: 1583.704568 meters looking forward 0.000000 meters along route # Maximum depth: 1583.704568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1508.704568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720280; longitude = -122.734527; captureRadius = 10; duration = 207; initialDepth = 1540.613098; finalDepth = 1508.704568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1508.704568 # Seafloor depth: -1583.704568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.814652 meters # Minimum depth: 1615.613098 meters looking forward 0.000000 meters along route # Maximum depth: 1615.613098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1540.613098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719516; longitude = -122.735189; captureRadius = 10; duration = 207; initialDepth = 1557.186750; finalDepth = 1540.613098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1540.613098 # Seafloor depth: -1615.613098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.814969 meters # Minimum depth: 1632.186750 meters looking forward 0.000000 meters along route # Maximum depth: 1632.186750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1557.186750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718751; longitude = -122.735852; captureRadius = 10; duration = 207; initialDepth = 1584.268797; finalDepth = 1557.186750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1557.18675 # Seafloor depth: -1632.186750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.815288 meters # Minimum depth: 1659.268797 meters looking forward 0.000000 meters along route # Maximum depth: 1659.268797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1584.268797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717987; longitude = -122.736515; captureRadius = 10; duration = 207; initialDepth = 1607.375227; finalDepth = 1584.268797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1584.268797 # Seafloor depth: -1659.268797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.815606 meters # Minimum depth: 1682.375227 meters looking forward 0.000000 meters along route # Maximum depth: 1682.375227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1607.375227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717223; longitude = -122.737178; captureRadius = 10; duration = 207; initialDepth = 1609.993073; finalDepth = 1607.375227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1607.375227 # Seafloor depth: -1682.375227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.276548 meters # Minimum depth: 1684.993073 meters looking forward 0.000000 meters along route # Maximum depth: 1684.993073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1609.993073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716459; longitude = -122.737841; captureRadius = 10; duration = 208; initialDepth = 1563.881942; finalDepth = 1609.993073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1609.993073 # Seafloor depth: -1684.993073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.355618 meters # Minimum depth: 1638.881942 meters looking forward 0.000000 meters along route # Maximum depth: 1638.881942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1563.881942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715692; longitude = -122.738507; captureRadius = 10; duration = 206; initialDepth = 1515.240609; finalDepth = 1563.881942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1563.881942 # Seafloor depth: -1638.881942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.824255 meters # Minimum depth: 1590.240609 meters looking forward 0.000000 meters along route # Maximum depth: 1590.240609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1515.240609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714931; longitude = -122.739167; captureRadius = 10; duration = 209; initialDepth = 1486.734376; finalDepth = 1515.240609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1515.240609 # Seafloor depth: -1590.240609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.809184 meters # Minimum depth: 1561.734376 meters looking forward 0.000000 meters along route # Maximum depth: 1561.734376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.734376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714159; longitude = -122.739836; captureRadius = 10; duration = 205; initialDepth = 1473.264866; finalDepth = 1486.734376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1486.734376 # Seafloor depth: -1561.734376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.371969 meters # Minimum depth: 1548.264866 meters looking forward 0.000000 meters along route # Maximum depth: 1548.264866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1473.264866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713403; longitude = -122.740493; captureRadius = 10; duration = 210; initialDepth = 1476.668076; finalDepth = 1473.264866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1473.264866 # Seafloor depth: -1548.264866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.262743 meters # Minimum depth: 1551.668076 meters looking forward 0.000000 meters along route # Maximum depth: 1551.668076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1476.668076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712627; longitude = -122.741166; captureRadius = 10; duration = 204; initialDepth = 1506.432481; finalDepth = 1476.668076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1476.668076 # Seafloor depth: -1551.668076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.919689 meters # Minimum depth: 1581.432481 meters looking forward 0.000000 meters along route # Maximum depth: 1581.432481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1506.432481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711874; longitude = -122.741819; captureRadius = 10; duration = 211; initialDepth = 1524.664035; finalDepth = 1506.432481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1506.432481 # Seafloor depth: -1581.432481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.716296 meters # Minimum depth: 1599.664035 meters looking forward 0.000000 meters along route # Maximum depth: 1599.664035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1524.664035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711095; longitude = -122.742495; captureRadius = 10; duration = 203; initialDepth = 1512.717941; finalDepth = 1524.664035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1524.664035 # Seafloor depth: -1599.664035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.467416 meters # Minimum depth: 1587.717941 meters looking forward 0.000000 meters along route # Maximum depth: 1587.717941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.717941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710346; longitude = -122.743144; captureRadius = 10; duration = 212; initialDepth = 1526.663129; finalDepth = 1512.717941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1512.717941 # Seafloor depth: -1587.717941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.169841 meters # Minimum depth: 1601.663129 meters looking forward 0.000000 meters along route # Maximum depth: 1601.663129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1526.663129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709562; longitude = -122.743824; captureRadius = 10; duration = 202; initialDepth = 1558.752738; finalDepth = 1526.663129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1526.663129 # Seafloor depth: -1601.663129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.015151 meters # Minimum depth: 1633.752738 meters looking forward 0.000000 meters along route # Maximum depth: 1633.752738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1558.752738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708818; longitude = -122.744470; captureRadius = 10; duration = 214; initialDepth = 1580.769649; finalDepth = 1558.752738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1558.752738 # Seafloor depth: -1633.752738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.804489 meters # Minimum depth: 1655.769649 meters looking forward 0.000000 meters along route # Maximum depth: 1655.769649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1580.769649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708030; longitude = -122.745154; captureRadius = 10; duration = 201; initialDepth = 1604.840607; finalDepth = 1580.769649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1580.769649 # Seafloor depth: -1655.769649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 97.796079 meters # Minimum depth: 1679.840607 meters looking forward 0.000000 meters along route # Maximum depth: 1679.840607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1604.840607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707288; longitude = -122.745797; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 1641.889933; finalDepth = 1604.840607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1604.840607 # Seafloor depth: -1679.840607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.203921 meters # Minimum depth: 1716.889933 meters looking forward 0.000000 meters along route # Maximum depth: 1716.889933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.889933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707797; longitude = -122.746680; captureRadius = 10; duration = 204; initialDepth = 1689.548403; finalDepth = 1641.889933; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.889933 # Seafloor depth: -1716.889933 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 109.871279 meters # Minimum depth: 1795.788696 meters looking forward 0.000000 meters along route # Maximum depth: 1795.788696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1689.548403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708329; longitude = -122.747602; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 1689.484579; finalDepth = 1689.548403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.240292870348 # Actual altitude: 100 # Commanded vehicle depth: 1689.54840312965 # Seafloor depth: -1795.788696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.651046 meters # Minimum depth: 1764.484579 meters looking forward 0.000000 meters along route # Maximum depth: 1764.484579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1689.484579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709138; longitude = -122.746901; captureRadius = 10; duration = 213; initialDepth = 1661.529445; finalDepth = 1689.484579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.240292870348 # Actual altitude: 100 # Commanded vehicle depth: 1689.484579 # Seafloor depth: -1764.484579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.989470 meters # Minimum depth: 1736.529445 meters looking forward 0.000000 meters along route # Maximum depth: 1736.529445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1661.529445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709923; longitude = -122.746220; captureRadius = 10; duration = 201; initialDepth = 1642.786564; finalDepth = 1661.529445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1661.529445 # Seafloor depth: -1736.529445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.192127 meters # Minimum depth: 1717.786564 meters looking forward 0.000000 meters along route # Maximum depth: 1717.786564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1642.786564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710666; longitude = -122.745575; captureRadius = 10; duration = 214; initialDepth = 1618.899447; finalDepth = 1642.786564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1642.786564 # Seafloor depth: -1717.786564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.447117 meters # Minimum depth: 1693.899447 meters looking forward 0.000000 meters along route # Maximum depth: 1693.899447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.899447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711455; longitude = -122.744891; captureRadius = 10; duration = 200; initialDepth = 1602.724583; finalDepth = 1618.899447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.899447 # Seafloor depth: -1693.899447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.819145 meters # Minimum depth: 1677.724583 meters looking forward 0.000000 meters along route # Maximum depth: 1677.724583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.724583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712195; longitude = -122.744249; captureRadius = 10; duration = 207; initialDepth = 1606.854947; finalDepth = 1602.724583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.724583 # Seafloor depth: -1677.724583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.818826 meters # Minimum depth: 1681.854947 meters looking forward 0.000000 meters along route # Maximum depth: 1681.854947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1606.854947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712959; longitude = -122.743586; captureRadius = 10; duration = 207; initialDepth = 1612.711400; finalDepth = 1606.854947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1606.854947 # Seafloor depth: -1681.854947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.818508 meters # Minimum depth: 1687.711400 meters looking forward 0.000000 meters along route # Maximum depth: 1687.711400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1612.711400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713723; longitude = -122.742923; captureRadius = 10; duration = 207; initialDepth = 1602.578781; finalDepth = 1612.711400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1612.7114 # Seafloor depth: -1687.711400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.818190 meters # Minimum depth: 1677.578781 meters looking forward 0.000000 meters along route # Maximum depth: 1677.578781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1602.578781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714487; longitude = -122.742261; captureRadius = 10; duration = 207; initialDepth = 1607.394210; finalDepth = 1602.578781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1602.578781 # Seafloor depth: -1677.578781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.817872 meters # Minimum depth: 1682.394210 meters looking forward 0.000000 meters along route # Maximum depth: 1682.394210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1607.394210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715251; longitude = -122.741598; captureRadius = 10; duration = 207; initialDepth = 1635.689546; finalDepth = 1607.394210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1607.39421 # Seafloor depth: -1682.394210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.817553 meters # Minimum depth: 1710.689546 meters looking forward 0.000000 meters along route # Maximum depth: 1710.689546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1635.689546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716015; longitude = -122.740935; captureRadius = 10; duration = 207; initialDepth = 1655.930617; finalDepth = 1635.689546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1635.689546 # Seafloor depth: -1710.689546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.817235 meters # Minimum depth: 1730.930617 meters looking forward 0.000000 meters along route # Maximum depth: 1730.930617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1655.930617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716779; longitude = -122.740272; captureRadius = 10; duration = 207; initialDepth = 1687.494310; finalDepth = 1655.930617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1655.930617 # Seafloor depth: -1730.930617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.816917 meters # Minimum depth: 1762.494310 meters looking forward 0.000000 meters along route # Maximum depth: 1762.494310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.494310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717544; longitude = -122.739609; captureRadius = 10; duration = 207; initialDepth = 1694.294824; finalDepth = 1687.494310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.49431 # Seafloor depth: -1762.494310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.816599 meters # Minimum depth: 1769.294824 meters looking forward 0.000000 meters along route # Maximum depth: 1769.294824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.294824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718308; longitude = -122.738946; captureRadius = 10; duration = 207; initialDepth = 1685.748339; finalDepth = 1694.294824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.294824 # Seafloor depth: -1769.294824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.045188 meters # Minimum depth: 1760.748339 meters looking forward 0.000000 meters along route # Maximum depth: 1760.748339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.748339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719072; longitude = -122.738283; captureRadius = 10; duration = 208; initialDepth = 1683.413810; finalDepth = 1685.748339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.748339 # Seafloor depth: -1760.748339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.587055 meters # Minimum depth: 1758.413810 meters looking forward 0.000000 meters along route # Maximum depth: 1758.413810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1683.413810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719838; longitude = -122.737619; captureRadius = 10; duration = 207; initialDepth = 1675.373591; finalDepth = 1683.413810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1683.41381 # Seafloor depth: -1758.413810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.586263 meters # Minimum depth: 1750.373591 meters looking forward 0.000000 meters along route # Maximum depth: 1750.373591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1675.373591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720600; longitude = -122.736957; captureRadius = 10; duration = 209; initialDepth = 1653.131543; finalDepth = 1675.373591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1675.373591 # Seafloor depth: -1750.373591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.044707 meters # Minimum depth: 1728.131543 meters looking forward 0.000000 meters along route # Maximum depth: 1728.131543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1653.131543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721370; longitude = -122.736289; captureRadius = 10; duration = 206; initialDepth = 1617.832032; finalDepth = 1653.131543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1653.131543 # Seafloor depth: -1728.131543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.127332 meters # Minimum depth: 1692.832032 meters looking forward 0.000000 meters along route # Maximum depth: 1692.832032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1617.832032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722129; longitude = -122.735631; captureRadius = 10; duration = 210; initialDepth = 1589.199576; finalDepth = 1617.832032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1617.832032 # Seafloor depth: -1692.832032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.502366 meters # Minimum depth: 1664.199576 meters looking forward 0.000000 meters along route # Maximum depth: 1664.199576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1589.199576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722902; longitude = -122.734960; captureRadius = 10; duration = 205; initialDepth = 1559.620194; finalDepth = 1589.199576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1589.199576 # Seafloor depth: -1664.199576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.668393 meters # Minimum depth: 1634.620194 meters looking forward 0.000000 meters along route # Maximum depth: 1634.620194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1559.620194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723657; longitude = -122.734306; captureRadius = 10; duration = 211; initialDepth = 1538.263707; finalDepth = 1559.620194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1559.620194 # Seafloor depth: -1634.620194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.960032 meters # Minimum depth: 1613.263707 meters looking forward 0.000000 meters along route # Maximum depth: 1613.263707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1538.263707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724435; longitude = -122.733631; captureRadius = 10; duration = 203; initialDepth = 1527.383776; finalDepth = 1538.263707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1538.263707 # Seafloor depth: -1613.263707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.209448 meters # Minimum depth: 1602.383776 meters looking forward 0.000000 meters along route # Maximum depth: 1602.383776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1527.383776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725185; longitude = -122.732980; captureRadius = 10; duration = 212; initialDepth = 1513.731401; finalDepth = 1527.383776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1527.383776 # Seafloor depth: -1602.383776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.417704 meters # Minimum depth: 1588.731401 meters looking forward 0.000000 meters along route # Maximum depth: 1588.731401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1513.731401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725967; longitude = -122.732302; captureRadius = 10; duration = 202; initialDepth = 1510.236642; finalDepth = 1513.731401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1513.731401 # Seafloor depth: -1588.731401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.750497 meters # Minimum depth: 1585.236642 meters looking forward 0.000000 meters along route # Maximum depth: 1585.236642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1510.236642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726713; longitude = -122.731654; captureRadius = 10; duration = 213; initialDepth = 1520.572601; finalDepth = 1510.236642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1510.236642 # Seafloor depth: -1585.236642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.875382 meters # Minimum depth: 1595.572601 meters looking forward 0.000000 meters along route # Maximum depth: 1595.572601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1520.572601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727499; longitude = -122.730972; captureRadius = 10; duration = 201; initialDepth = 1541.101628; finalDepth = 1520.572601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1520.572601 # Seafloor depth: -1595.572601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.291539 meters # Minimum depth: 1616.101628 meters looking forward 0.000000 meters along route # Maximum depth: 1616.101628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1541.101628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728242; longitude = -122.730328; captureRadius = 10; duration = 214; initialDepth = 1566.915456; finalDepth = 1541.101628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1541.101628 # Seafloor depth: -1616.101628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.333068 meters # Minimum depth: 1641.915456 meters looking forward 0.000000 meters along route # Maximum depth: 1641.915456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1566.915456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729031; longitude = -122.729643; captureRadius = 10; duration = 200; initialDepth = 1554.084992; finalDepth = 1566.915456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1566.915456 # Seafloor depth: -1641.915456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.811826 meters # Minimum depth: 1629.084992 meters looking forward 0.000000 meters along route # Maximum depth: 1629.084992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1554.084992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729770; longitude = -122.729002; captureRadius = 10; duration = 207; initialDepth = 1522.807881; finalDepth = 1554.084992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1554.084992 # Seafloor depth: -1629.084992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.811509 meters # Minimum depth: 1597.807881 meters looking forward 0.000000 meters along route # Maximum depth: 1597.807881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1522.807881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730534; longitude = -122.728339; captureRadius = 10; duration = 207; initialDepth = 1500.346197; finalDepth = 1522.807881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1522.807881 # Seafloor depth: -1597.807881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.811190 meters # Minimum depth: 1575.346197 meters looking forward 0.000000 meters along route # Maximum depth: 1575.346197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1500.346197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731298; longitude = -122.727676; captureRadius = 10; duration = 207; initialDepth = 1492.980483; finalDepth = 1500.346197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1500.346197 # Seafloor depth: -1575.346197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.810871 meters # Minimum depth: 1567.980483 meters looking forward 0.000000 meters along route # Maximum depth: 1567.980483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1492.980483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732062; longitude = -122.727014; captureRadius = 10; duration = 207; initialDepth = 1487.706704; finalDepth = 1492.980483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1492.980483 # Seafloor depth: -1567.980483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.810554 meters # Minimum depth: 1562.706704 meters looking forward 0.000000 meters along route # Maximum depth: 1562.706704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1487.706704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732827; longitude = -122.726351; captureRadius = 10; duration = 207; initialDepth = 1505.623172; finalDepth = 1487.706704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1487.706704 # Seafloor depth: -1562.706704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.810236 meters # Minimum depth: 1580.623172 meters looking forward 0.000000 meters along route # Maximum depth: 1580.623172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1505.623172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733591; longitude = -122.725688; captureRadius = 10; duration = 207; initialDepth = 1541.412987; finalDepth = 1505.623172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1505.623172 # Seafloor depth: -1580.623172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.809918 meters # Minimum depth: 1616.412987 meters looking forward 0.000000 meters along route # Maximum depth: 1616.412987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1541.412987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734355; longitude = -122.725025; captureRadius = 10; duration = 207; initialDepth = 1577.617887; finalDepth = 1541.412987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1541.412987 # Seafloor depth: -1616.412987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.809599 meters # Minimum depth: 1652.617887 meters looking forward 0.000000 meters along route # Maximum depth: 1652.617887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.617887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735119; longitude = -122.724362; captureRadius = 10; duration = 207; initialDepth = 1626.025097; finalDepth = 1577.617887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1577.617887 # Seafloor depth: -1652.617887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.809281 meters # Minimum depth: 1722.840597 meters looking forward 0.000000 meters along route # Maximum depth: 1722.840597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1626.025097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735883; longitude = -122.723699; captureRadius = 10; duration = 207; initialDepth = 1673.915993; finalDepth = 1626.025097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.8154999369667 # Actual altitude: 96.8154999369667 # Commanded vehicle depth: 1626.02509706303 # Seafloor depth: -1722.840597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.144820 meters # Minimum depth: 1748.915993 meters looking forward 0.000000 meters along route # Maximum depth: 1748.915993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1673.915993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736647; longitude = -122.723036; captureRadius = 10; duration = 208; initialDepth = 1643.469264; finalDepth = 1673.915993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.8154999369667 # Actual altitude: 96.8154999369667 # Commanded vehicle depth: 1673.915993 # Seafloor depth: -1748.915993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.472789 meters # Minimum depth: 1718.469264 meters looking forward 0.000000 meters along route # Maximum depth: 1718.469264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1643.469264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737414; longitude = -122.722371; captureRadius = 10; duration = 206; initialDepth = 1575.208833; finalDepth = 1643.469264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1643.469264 # Seafloor depth: -1718.469264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.685856 meters # Minimum depth: 1650.208833 meters looking forward 0.000000 meters along route # Maximum depth: 1650.208833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1575.208833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738176; longitude = -122.721710; captureRadius = 10; duration = 209; initialDepth = 1531.902024; finalDepth = 1575.208833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1575.208833 # Seafloor depth: -1650.208833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.930480 meters # Minimum depth: 1606.902024 meters looking forward 0.000000 meters along route # Maximum depth: 1606.902024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1531.902024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738946; longitude = -122.721042; captureRadius = 10; duration = 205; initialDepth = 1541.033513; finalDepth = 1531.902024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1531.902024 # Seafloor depth: -1606.902024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.226886 meters # Minimum depth: 1616.033513 meters looking forward 0.000000 meters along route # Maximum depth: 1616.033513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1541.033513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739704; longitude = -122.720384; captureRadius = 10; duration = 210; initialDepth = 1488.549360; finalDepth = 1541.033513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1541.033513 # Seafloor depth: -1616.033513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.388178 meters # Minimum depth: 1563.549360 meters looking forward 0.000000 meters along route # Maximum depth: 1563.549360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1488.549360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740479; longitude = -122.719713; captureRadius = 10; duration = 204; initialDepth = 1502.637953; finalDepth = 1488.549360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1488.54936 # Seafloor depth: -1563.549360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.767909 meters # Minimum depth: 1577.637953 meters looking forward 0.000000 meters along route # Maximum depth: 1577.637953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.637953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741232; longitude = -122.719059; captureRadius = 10; duration = 211; initialDepth = 1519.569097; finalDepth = 1502.637953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1502.637953 # Seafloor depth: -1577.637953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.845883 meters # Minimum depth: 1594.569097 meters looking forward 0.000000 meters along route # Maximum depth: 1594.569097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1519.569097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742011; longitude = -122.718383; captureRadius = 10; duration = 203; initialDepth = 1544.450583; finalDepth = 1519.569097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1519.569097 # Seafloor depth: -1594.569097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.308926 meters # Minimum depth: 1619.450583 meters looking forward 0.000000 meters along route # Maximum depth: 1619.450583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1544.450583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742761; longitude = -122.717733; captureRadius = 10; duration = 212; initialDepth = 1555.008004; finalDepth = 1544.450583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1544.450583 # Seafloor depth: -1619.450583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.303594 meters # Minimum depth: 1630.008004 meters looking forward 0.000000 meters along route # Maximum depth: 1630.008004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1555.008004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743543; longitude = -122.717054; captureRadius = 10; duration = 202; initialDepth = 1567.116994; finalDepth = 1555.008004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1555.008004 # Seafloor depth: -1630.008004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.849935 meters # Minimum depth: 1642.116994 meters looking forward 0.000000 meters along route # Maximum depth: 1642.116994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.116994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744289; longitude = -122.716407; captureRadius = 10; duration = 213; initialDepth = 1588.779767; finalDepth = 1567.116994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1567.116994 # Seafloor depth: -1642.116994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.761312 meters # Minimum depth: 1663.779767 meters looking forward 0.000000 meters along route # Maximum depth: 1663.779767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1588.779767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745075; longitude = -122.715725; captureRadius = 10; duration = 201; initialDepth = 1609.264292; finalDepth = 1588.779767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1588.779767 # Seafloor depth: -1663.779767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.390939 meters # Minimum depth: 1684.264292 meters looking forward 0.000000 meters along route # Maximum depth: 1684.264292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1609.264292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745817; longitude = -122.715081; captureRadius = 10; duration = 214; initialDepth = 1644.948707; finalDepth = 1609.264292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1609.264292 # Seafloor depth: -1684.264292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.219037 meters # Minimum depth: 1719.948707 meters looking forward 0.000000 meters along route # Maximum depth: 1719.948707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1644.948707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746608; longitude = -122.714395; captureRadius = 10; duration = 200; initialDepth = 1661.979020; finalDepth = 1644.948707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1644.948707 # Seafloor depth: -1719.948707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.804510 meters # Minimum depth: 1736.979020 meters looking forward 0.000000 meters along route # Maximum depth: 1736.979020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1661.979020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747345; longitude = -122.713755; captureRadius = 10; duration = 207; initialDepth = 1682.284022; finalDepth = 1661.979020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1661.97902 # Seafloor depth: -1736.979020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.804193 meters # Minimum depth: 1757.284022 meters looking forward 0.000000 meters along route # Maximum depth: 1757.284022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.284022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748110; longitude = -122.713092; captureRadius = 10; duration = 207; initialDepth = 1682.847837; finalDepth = 1682.284022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.284022 # Seafloor depth: -1757.284022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.803875 meters # Minimum depth: 1757.847837 meters looking forward 0.000000 meters along route # Maximum depth: 1757.847837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1682.847837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748874; longitude = -122.712430; captureRadius = 10; duration = 207; initialDepth = 1679.971575; finalDepth = 1682.847837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1682.847837 # Seafloor depth: -1757.847837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.803556 meters # Minimum depth: 1754.971575 meters looking forward 0.000000 meters along route # Maximum depth: 1754.971575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.971575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749638; longitude = -122.711767; captureRadius = 10; duration = 207; initialDepth = 1641.283507; finalDepth = 1679.971575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1679.971575 # Seafloor depth: -1754.971575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.063827 meters # Minimum depth: 1716.283507 meters looking forward 0.000000 meters along route # Maximum depth: 1716.283507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.283507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750402; longitude = -122.711104; captureRadius = 10; duration = 218; initialDepth = 1606.817902; finalDepth = 1641.283507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.283507 # Seafloor depth: -1716.283507 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 89.379776 meters # Minimum depth: 1681.817902 meters looking forward 0.000000 meters along route # Maximum depth: 1681.817902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1606.817902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751205; longitude = -122.710407; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 1625.130073; finalDepth = 1606.817902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1606.817902 # Seafloor depth: -1681.817902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.620224 meters # Minimum depth: 1700.130073 meters looking forward 0.000000 meters along route # Maximum depth: 1700.130073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.130073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751670; longitude = -122.711214; captureRadius = 10; duration = 221; initialDepth = 1615.853973; finalDepth = 1625.130073; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.130073 # Seafloor depth: -1700.130073 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 104.812125 meters # Minimum depth: 1690.853973 meters looking forward 0.000000 meters along route # Maximum depth: 1690.853973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1615.853973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752247; longitude = -122.712213; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 1664.728669; finalDepth = 1615.853973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1615.853973 # Seafloor depth: -1690.853973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.107516 meters # Minimum depth: 1740.522956 meters looking forward 0.000000 meters along route # Maximum depth: 1740.522956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1664.728669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751475; longitude = -122.712882; captureRadius = 10; duration = 204; initialDepth = 1668.622307; finalDepth = 1664.728669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7942873947518 # Actual altitude: 75.7942873947518 # Commanded vehicle depth: 1664.72866860525 # Seafloor depth: -1740.522956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 303.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.038857 meters # Minimum depth: 1743.622307 meters looking forward 0.000000 meters along route # Maximum depth: 1743.622307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1668.622307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750723; longitude = -122.713534; captureRadius = 10; duration = 212; initialDepth = 1637.297031; finalDepth = 1668.622307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7942873947518 # Actual altitude: 75.7942873947518 # Commanded vehicle depth: 1668.622307 # Seafloor depth: -1743.622307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 303.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.571831 meters # Minimum depth: 1712.297031 meters looking forward 0.000000 meters along route # Maximum depth: 1712.297031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1637.297031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749943; longitude = -122.714212; captureRadius = 10; duration = 203; initialDepth = 1618.922757; finalDepth = 1637.297031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1637.297031 # Seafloor depth: -1712.297031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.575821 meters # Minimum depth: 1693.922757 meters looking forward 0.000000 meters along route # Maximum depth: 1693.922757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.922757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749195; longitude = -122.714860; captureRadius = 10; duration = 213; initialDepth = 1572.050961; finalDepth = 1618.922757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.922757 # Seafloor depth: -1693.922757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.036139 meters # Minimum depth: 1647.050961 meters looking forward 0.000000 meters along route # Maximum depth: 1647.050961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1572.050961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748410; longitude = -122.715541; captureRadius = 10; duration = 202; initialDepth = 1549.907208; finalDepth = 1572.050961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1572.050961 # Seafloor depth: -1647.050961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.112792 meters # Minimum depth: 1624.907208 meters looking forward 0.000000 meters along route # Maximum depth: 1624.907208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1549.907208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747667; longitude = -122.716186; captureRadius = 10; duration = 214; initialDepth = 1509.997579; finalDepth = 1549.907208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1549.907208 # Seafloor depth: -1624.907208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.500440 meters # Minimum depth: 1584.997579 meters looking forward 0.000000 meters along route # Maximum depth: 1584.997579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.997579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746878; longitude = -122.716870; captureRadius = 10; duration = 201; initialDepth = 1479.053128; finalDepth = 1509.997579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1509.997579 # Seafloor depth: -1584.997579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.807093 meters # Minimum depth: 1554.053128 meters looking forward 0.000000 meters along route # Maximum depth: 1554.053128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1479.053128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746138; longitude = -122.717512; captureRadius = 10; duration = 207; initialDepth = 1462.467509; finalDepth = 1479.053128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1479.053128 # Seafloor depth: -1554.053128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.807411 meters # Minimum depth: 1537.467509 meters looking forward 0.000000 meters along route # Maximum depth: 1537.467509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1462.467509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745374; longitude = -122.718175; captureRadius = 10; duration = 207; initialDepth = 1443.279196; finalDepth = 1462.467509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1462.467509 # Seafloor depth: -1537.467509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.807729 meters # Minimum depth: 1518.279196 meters looking forward 0.000000 meters along route # Maximum depth: 1518.279196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.279196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744610; longitude = -122.718838; captureRadius = 10; duration = 207; initialDepth = 1447.280820; finalDepth = 1443.279196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1443.279196 # Seafloor depth: -1518.279196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.808048 meters # Minimum depth: 1522.280820 meters looking forward 0.000000 meters along route # Maximum depth: 1522.280820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1447.280820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743846; longitude = -122.719501; captureRadius = 10; duration = 207; initialDepth = 1495.687307; finalDepth = 1447.280820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1447.28082 # Seafloor depth: -1522.280820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.808365 meters # Minimum depth: 1579.042762 meters looking forward 0.000000 meters along route # Maximum depth: 1579.042762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1495.687307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743082; longitude = -122.720164; captureRadius = 10; duration = 207; initialDepth = 1544.093941; finalDepth = 1495.687307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3554551801305 # Actual altitude: 83.3554551801305 # Commanded vehicle depth: 1495.68730681987 # Seafloor depth: -1579.042762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 333.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.808683 meters # Minimum depth: 1628.941786 meters looking forward 0.000000 meters along route # Maximum depth: 1628.941786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1544.093941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742317; longitude = -122.720826; captureRadius = 10; duration = 207; initialDepth = 1577.671382; finalDepth = 1544.093941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.847844540737 # Actual altitude: 84.847844540737 # Commanded vehicle depth: 1544.09394145926 # Seafloor depth: -1628.941786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 339.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.809002 meters # Minimum depth: 1652.671382 meters looking forward 0.000000 meters along route # Maximum depth: 1652.671382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.671382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741553; longitude = -122.721489; captureRadius = 10; duration = 207; initialDepth = 1617.582711; finalDepth = 1577.671382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.847844540737 # Actual altitude: 84.847844540737 # Commanded vehicle depth: 1577.671382 # Seafloor depth: -1652.671382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 339.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.809320 meters # Minimum depth: 1692.582711 meters looking forward 0.000000 meters along route # Maximum depth: 1692.582711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1617.582711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740789; longitude = -122.722152; captureRadius = 10; duration = 207; initialDepth = 1651.532492; finalDepth = 1617.582711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1617.582711 # Seafloor depth: -1692.582711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.809637 meters # Minimum depth: 1726.532492 meters looking forward 0.000000 meters along route # Maximum depth: 1726.532492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1651.532492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740025; longitude = -122.722815; captureRadius = 10; duration = 207; initialDepth = 1662.839622; finalDepth = 1651.532492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1651.532492 # Seafloor depth: -1726.532492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.943999 meters # Minimum depth: 1737.839622 meters looking forward 0.000000 meters along route # Maximum depth: 1737.839622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1662.839622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739261; longitude = -122.723478; captureRadius = 10; duration = 207; initialDepth = 1700.780323; finalDepth = 1662.839622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1662.839622 # Seafloor depth: -1737.839622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.676231 meters # Minimum depth: 1775.780323 meters looking forward 0.000000 meters along route # Maximum depth: 1775.780323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1700.780323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738496; longitude = -122.724142; captureRadius = 10; duration = 207; initialDepth = 1650.500198; finalDepth = 1700.780323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1700.780323 # Seafloor depth: -1775.780323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.480975 meters # Minimum depth: 1725.500198 meters looking forward 0.000000 meters along route # Maximum depth: 1725.500198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1650.500198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737732; longitude = -122.724804; captureRadius = 10; duration = 208; initialDepth = 1631.836633; finalDepth = 1650.500198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1650.500198 # Seafloor depth: -1725.500198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.140528 meters # Minimum depth: 1706.836633 meters looking forward 0.000000 meters along route # Maximum depth: 1706.836633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1631.836633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736963; longitude = -122.725471; captureRadius = 10; duration = 206; initialDepth = 1652.236758; finalDepth = 1631.836633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1631.836633 # Seafloor depth: -1706.836633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.017958 meters # Minimum depth: 1727.236758 meters looking forward 0.000000 meters along route # Maximum depth: 1727.236758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1652.236758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736204; longitude = -122.726130; captureRadius = 10; duration = 210; initialDepth = 1660.929318; finalDepth = 1652.236758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1652.236758 # Seafloor depth: -1727.236758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.604817 meters # Minimum depth: 1735.929318 meters looking forward 0.000000 meters along route # Maximum depth: 1735.929318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.929318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735431; longitude = -122.726800; captureRadius = 10; duration = 205; initialDepth = 1641.424058; finalDepth = 1660.929318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1660.929318 # Seafloor depth: -1735.929318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.554947 meters # Minimum depth: 1716.424058 meters looking forward 0.000000 meters along route # Maximum depth: 1716.424058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1641.424058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734676; longitude = -122.727456; captureRadius = 10; duration = 211; initialDepth = 1629.825686; finalDepth = 1641.424058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1641.424058 # Seafloor depth: -1716.424058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.069100 meters # Minimum depth: 1704.825686 meters looking forward 0.000000 meters along route # Maximum depth: 1704.825686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1629.825686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733899; longitude = -122.728130; captureRadius = 10; duration = 204; initialDepth = 1618.662953; finalDepth = 1629.825686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1629.825686 # Seafloor depth: -1704.825686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.091944 meters # Minimum depth: 1693.662953 meters looking forward 0.000000 meters along route # Maximum depth: 1693.662953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1618.662953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733147; longitude = -122.728781; captureRadius = 10; duration = 212; initialDepth = 1612.944951; finalDepth = 1618.662953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1618.662953 # Seafloor depth: -1693.662953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.533376 meters # Minimum depth: 1687.944951 meters looking forward 0.000000 meters along route # Maximum depth: 1687.944951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1612.944951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732366; longitude = -122.729459; captureRadius = 10; duration = 203; initialDepth = 1640.015762; finalDepth = 1612.944951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1612.944951 # Seafloor depth: -1687.944951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.628946 meters # Minimum depth: 1715.015762 meters looking forward 0.000000 meters along route # Maximum depth: 1715.015762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1640.015762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731619; longitude = -122.730107; captureRadius = 10; duration = 213; initialDepth = 1675.215643; finalDepth = 1640.015762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1640.015762 # Seafloor depth: -1715.015762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.997646 meters # Minimum depth: 1750.215643 meters looking forward 0.000000 meters along route # Maximum depth: 1750.215643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1675.215643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730834; longitude = -122.730788; captureRadius = 10; duration = 201; initialDepth = 1678.207142; finalDepth = 1675.215643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1675.215643 # Seafloor depth: -1750.215643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.165956 meters # Minimum depth: 1753.207142 meters looking forward 0.000000 meters along route # Maximum depth: 1753.207142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1678.207142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730091; longitude = -122.731433; captureRadius = 10; duration = 214; initialDepth = 1673.686518; finalDepth = 1678.207142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1678.207142 # Seafloor depth: -1753.207142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.461910 meters # Minimum depth: 1748.686518 meters looking forward 0.000000 meters along route # Maximum depth: 1748.686518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1673.686518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729302; longitude = -122.732117; captureRadius = 10; duration = 200; initialDepth = 1649.717979; finalDepth = 1673.686518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1673.686518 # Seafloor depth: -1748.686518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.814410 meters # Minimum depth: 1724.717979 meters looking forward 0.000000 meters along route # Maximum depth: 1724.717979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1649.717979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728562; longitude = -122.732759; captureRadius = 10; duration = 207; initialDepth = 1660.550430; finalDepth = 1649.717979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1649.717979 # Seafloor depth: -1724.717979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.814728 meters # Minimum depth: 1735.550430 meters looking forward 0.000000 meters along route # Maximum depth: 1735.550430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.550430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727798; longitude = -122.733422; captureRadius = 10; duration = 207; initialDepth = 1662.562660; finalDepth = 1660.550430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1660.55043 # Seafloor depth: -1735.550430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.815046 meters # Minimum depth: 1737.562660 meters looking forward 0.000000 meters along route # Maximum depth: 1737.562660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1662.562660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727034; longitude = -122.734085; captureRadius = 10; duration = 207; initialDepth = 1655.694835; finalDepth = 1662.562660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1662.56266 # Seafloor depth: -1737.562660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.815364 meters # Minimum depth: 1730.694835 meters looking forward 0.000000 meters along route # Maximum depth: 1730.694835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1655.694835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726270; longitude = -122.734748; captureRadius = 10; duration = 207; initialDepth = 1660.421631; finalDepth = 1655.694835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1655.694835 # Seafloor depth: -1730.694835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.815683 meters # Minimum depth: 1735.421631 meters looking forward 0.000000 meters along route # Maximum depth: 1735.421631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.421631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725506; longitude = -122.735410; captureRadius = 10; duration = 207; initialDepth = 1669.184569; finalDepth = 1660.421631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1660.421631 # Seafloor depth: -1735.421631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.816001 meters # Minimum depth: 1744.184569 meters looking forward 0.000000 meters along route # Maximum depth: 1744.184569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1669.184569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724742; longitude = -122.736073; captureRadius = 10; duration = 207; initialDepth = 1694.962570; finalDepth = 1669.184569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1669.184569 # Seafloor depth: -1744.184569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.816319 meters # Minimum depth: 1769.962570 meters looking forward 0.000000 meters along route # Maximum depth: 1769.962570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.962570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723977; longitude = -122.736736; captureRadius = 10; duration = 207; initialDepth = 1721.829401; finalDepth = 1694.962570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.96257 # Seafloor depth: -1769.962570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.816637 meters # Minimum depth: 1796.829401 meters looking forward 0.000000 meters along route # Maximum depth: 1796.829401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1721.829401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723213; longitude = -122.737399; captureRadius = 10; duration = 207; initialDepth = 1750.436927; finalDepth = 1721.829401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1721.829401 # Seafloor depth: -1796.829401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.816956 meters # Minimum depth: 1825.436927 meters looking forward 0.000000 meters along route # Maximum depth: 1825.436927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1750.436927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722449; longitude = -122.738062; captureRadius = 10; duration = 207; initialDepth = 1785.960954; finalDepth = 1750.436927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1750.436927 # Seafloor depth: -1825.436927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.996942 meters # Minimum depth: 1860.960954 meters looking forward 0.000000 meters along route # Maximum depth: 1860.960954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1785.960954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721685; longitude = -122.738725; captureRadius = 10; duration = 207; initialDepth = 1816.039806; finalDepth = 1785.960954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1785.960954 # Seafloor depth: -1860.960954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.637924 meters # Minimum depth: 1891.039806 meters looking forward 0.000000 meters along route # Maximum depth: 1891.039806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1816.039806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720919; longitude = -122.739389; captureRadius = 10; duration = 207; initialDepth = 1824.739830; finalDepth = 1816.039806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1816.039806 # Seafloor depth: -1891.039806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.533956 meters # Minimum depth: 1899.739830 meters looking forward 0.000000 meters along route # Maximum depth: 1899.739830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1824.739830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720157; longitude = -122.740051; captureRadius = 10; duration = 209; initialDepth = 1816.903683; finalDepth = 1824.739830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1824.73983 # Seafloor depth: -1899.739830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.102182 meters # Minimum depth: 1891.903683 meters looking forward 0.000000 meters along route # Maximum depth: 1891.903683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1816.903683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719387; longitude = -122.740718; captureRadius = 10; duration = 206; initialDepth = 1795.589908; finalDepth = 1816.903683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1816.903683 # Seafloor depth: -1891.903683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.070978 meters # Minimum depth: 1870.589908 meters looking forward 0.000000 meters along route # Maximum depth: 1870.589908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1795.589908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718628; longitude = -122.741377; captureRadius = 10; duration = 210; initialDepth = 1770.085302; finalDepth = 1795.589908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1795.589908 # Seafloor depth: -1870.589908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.566434 meters # Minimum depth: 1845.085302 meters looking forward 0.000000 meters along route # Maximum depth: 1845.085302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1770.085302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717855; longitude = -122.742048; captureRadius = 10; duration = 205; initialDepth = 1742.242830; finalDepth = 1770.085302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1770.085302 # Seafloor depth: -1845.085302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.608005 meters # Minimum depth: 1817.242830 meters looking forward 0.000000 meters along route # Maximum depth: 1817.242830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1742.242830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717100; longitude = -122.742702; captureRadius = 10; duration = 211; initialDepth = 1724.500050; finalDepth = 1742.242830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1742.24283 # Seafloor depth: -1817.242830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.030680 meters # Minimum depth: 1799.500050 meters looking forward 0.000000 meters along route # Maximum depth: 1799.500050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.500050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716323; longitude = -122.743377; captureRadius = 10; duration = 204; initialDepth = 1725.439390; finalDepth = 1724.500050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1724.50005 # Seafloor depth: -1799.500050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.145040 meters # Minimum depth: 1800.439390 meters looking forward 0.000000 meters along route # Maximum depth: 1800.439390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1725.439390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715572; longitude = -122.744028; captureRadius = 10; duration = 212; initialDepth = 1724.875525; finalDepth = 1725.439390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1725.43939 # Seafloor depth: -1800.439390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.494917 meters # Minimum depth: 1799.875525 meters looking forward 0.000000 meters along route # Maximum depth: 1799.875525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.875525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714790; longitude = -122.744706; captureRadius = 10; duration = 202; initialDepth = 1734.922610; finalDepth = 1724.875525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1724.875525 # Seafloor depth: -1799.875525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.682081 meters # Minimum depth: 1809.922610 meters looking forward 0.000000 meters along route # Maximum depth: 1809.922610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1734.922610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714043; longitude = -122.745354; captureRadius = 10; duration = 213; initialDepth = 1743.380440; finalDepth = 1734.922610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1734.92261 # Seafloor depth: -1809.922610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.959150 meters # Minimum depth: 1818.380440 meters looking forward 0.000000 meters along route # Maximum depth: 1818.380440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1743.380440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713258; longitude = -122.746035; captureRadius = 10; duration = 201; initialDepth = 1749.422228; finalDepth = 1743.380440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1743.38044 # Seafloor depth: -1818.380440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.219129 meters # Minimum depth: 1824.422228 meters looking forward 0.000000 meters along route # Maximum depth: 1824.422228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1749.422228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712515; longitude = -122.746680; captureRadius = 10; duration = 214; initialDepth = 1736.784809; finalDepth = 1749.422228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1749.422228 # Seafloor depth: -1824.422228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.423375 meters # Minimum depth: 1811.784809 meters looking forward 0.000000 meters along route # Maximum depth: 1811.784809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1736.784809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711726; longitude = -122.747365; captureRadius = 10; duration = 200; initialDepth = 1704.347861; finalDepth = 1736.784809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1736.784809 # Seafloor depth: -1811.784809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.756183 meters # Minimum depth: 1779.347861 meters looking forward 0.000000 meters along route # Maximum depth: 1779.347861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.347861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710987; longitude = -122.748006; captureRadius = 10; duration = 215; initialDepth = 1741.506162; finalDepth = 1704.347861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.347861 # Seafloor depth: -1779.347861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.815086 meters # Minimum depth: 1816.506162 meters looking forward 0.000000 meters along route # Maximum depth: 1816.506162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1741.506162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710193; longitude = -122.748694; captureRadius = 10; duration = 223; initialDepth = 1733.029724; finalDepth = 1741.506162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1741.506162 # Seafloor depth: -1816.506162 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 89.482123 meters # Minimum depth: 1808.029724 meters looking forward 0.000000 meters along route # Maximum depth: 1808.029724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1733.029724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709370; longitude = -122.749408; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 1687.247769; finalDepth = 1733.029724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1733.029724 # Seafloor depth: -1808.029724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.517877 meters # Minimum depth: 1762.247769 meters looking forward 0.000000 meters along route # Maximum depth: 1762.247769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1687.247769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709836; longitude = -122.750215; captureRadius = 10; duration = 221; initialDepth = 1699.863434; finalDepth = 1687.247769; maxCrossTrackError = 30; 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: 75 # Actual altitude: 75 # Commanded vehicle depth: 1687.247769 # Seafloor depth: -1762.247769 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 138.318222 meters # Minimum depth: 1774.863434 meters looking forward 0.000000 meters along route # Maximum depth: 1774.863434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1699.863434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710411; longitude = -122.751213; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 1753.300630; finalDepth = 1699.863434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1699.863434 # Seafloor depth: -1774.863434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.358974 meters # Minimum depth: 1828.300630 meters looking forward 0.000000 meters along route # Maximum depth: 1828.300630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1753.300630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711427; longitude = -122.750326; captureRadius = 10; duration = 206; initialDepth = 1793.124887; finalDepth = 1753.300630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1753.30063 # Seafloor depth: -1828.300630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.358656 meters # Minimum depth: 1868.124887 meters looking forward 0.000000 meters along route # Maximum depth: 1868.124887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1793.124887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712186; longitude = -122.749663; captureRadius = 10; duration = 206; initialDepth = 1816.865814; finalDepth = 1793.124887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1793.124887 # Seafloor depth: -1868.124887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.935324 meters # Minimum depth: 1891.865814 meters looking forward 0.000000 meters along route # Maximum depth: 1891.865814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1816.865814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712945; longitude = -122.749000; captureRadius = 10; duration = 207; initialDepth = 1798.716581; finalDepth = 1816.865814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1816.865814 # Seafloor depth: -1891.865814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.781034 meters # Minimum depth: 1873.716581 meters looking forward 0.000000 meters along route # Maximum depth: 1873.716581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1798.716581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713709; longitude = -122.748333; captureRadius = 10; duration = 205; initialDepth = 1797.633932; finalDepth = 1798.716581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1798.716581 # Seafloor depth: -1873.716581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.864181 meters # Minimum depth: 1872.633932 meters looking forward 0.000000 meters along route # Maximum depth: 1872.633932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.633932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714463; longitude = -122.747674; captureRadius = 10; duration = 211; initialDepth = 1819.666635; finalDepth = 1797.633932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1797.633932 # Seafloor depth: -1872.633932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.850907 meters # Minimum depth: 1894.666635 meters looking forward 0.000000 meters along route # Maximum depth: 1894.666635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1819.666635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715241; longitude = -122.746995; captureRadius = 10; duration = 201; initialDepth = 1812.899993; finalDepth = 1819.666635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1819.666635 # Seafloor depth: -1894.666635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.357068 meters # Minimum depth: 1887.899993 meters looking forward 0.000000 meters along route # Maximum depth: 1887.899993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1812.899993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715982; longitude = -122.746348; captureRadius = 10; duration = 206; initialDepth = 1821.757722; finalDepth = 1812.899993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1812.899993 # Seafloor depth: -1887.899993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.356750 meters # Minimum depth: 1896.757722 meters looking forward 0.000000 meters along route # Maximum depth: 1896.757722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1821.757722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716741; longitude = -122.745686; captureRadius = 10; duration = 206; initialDepth = 1829.177282; finalDepth = 1821.757722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1821.757722 # Seafloor depth: -1896.757722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.356432 meters # Minimum depth: 1904.177282 meters looking forward 0.000000 meters along route # Maximum depth: 1904.177282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1829.177282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717500; longitude = -122.745023; captureRadius = 10; duration = 206; initialDepth = 1837.913936; finalDepth = 1829.177282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1829.177282 # Seafloor depth: -1904.177282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.549706 meters # Minimum depth: 1912.913936 meters looking forward 0.000000 meters along route # Maximum depth: 1912.913936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1837.913936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718259; longitude = -122.744360; captureRadius = 10; duration = 209; initialDepth = 1864.905469; finalDepth = 1837.913936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1837.913936 # Seafloor depth: -1912.913936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.162205 meters # Minimum depth: 1939.905469 meters looking forward 0.000000 meters along route # Maximum depth: 1939.905469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1864.905469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719027; longitude = -122.743689; captureRadius = 10; duration = 204; initialDepth = 1882.958563; finalDepth = 1864.905469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1864.905469 # Seafloor depth: -1939.905469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.478517 meters # Minimum depth: 1957.958563 meters looking forward 0.000000 meters along route # Maximum depth: 1957.958563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1882.958563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719777; longitude = -122.743034; captureRadius = 10; duration = 212; initialDepth = 1911.914744; finalDepth = 1882.958563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1882.958563 # Seafloor depth: -1957.958563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.232123 meters # Minimum depth: 1986.914744 meters looking forward 0.000000 meters along route # Maximum depth: 1986.914744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1911.914744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720559; longitude = -122.742351; captureRadius = 10; duration = 200; initialDepth = 1916.191820; finalDepth = 1911.914744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1911.914744 # Seafloor depth: -1986.914744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.354844 meters # Minimum depth: 1991.191820 meters looking forward 0.000000 meters along route # Maximum depth: 1991.191820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1916.191820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721295; longitude = -122.741708; captureRadius = 10; duration = 206; initialDepth = 1893.563821; finalDepth = 1916.191820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1916.19182 # Seafloor depth: -1991.191820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.354525 meters # Minimum depth: 1968.563821 meters looking forward 0.000000 meters along route # Maximum depth: 1968.563821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1893.563821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722054; longitude = -122.741045; captureRadius = 10; duration = 206; initialDepth = 1868.334153; finalDepth = 1893.563821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1893.563821 # Seafloor depth: -1968.563821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.354209 meters # Minimum depth: 1943.334153 meters looking forward 0.000000 meters along route # Maximum depth: 1943.334153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1868.334153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722813; longitude = -122.740382; captureRadius = 10; duration = 206; initialDepth = 1837.785284; finalDepth = 1868.334153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1868.334153 # Seafloor depth: -1943.334153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.164062 meters # Minimum depth: 1912.785284 meters looking forward 0.000000 meters along route # Maximum depth: 1912.785284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1837.785284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723572; longitude = -122.739719; captureRadius = 10; duration = 210; initialDepth = 1812.269732; finalDepth = 1837.785284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1837.785284 # Seafloor depth: -1912.785284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.543401 meters # Minimum depth: 1887.269732 meters looking forward 0.000000 meters along route # Maximum depth: 1887.269732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1812.269732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724344; longitude = -122.739045; captureRadius = 10; duration = 203; initialDepth = 1797.135760; finalDepth = 1812.269732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1812.269732 # Seafloor depth: -1887.269732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.353256 meters # Minimum depth: 1872.135760 meters looking forward 0.000000 meters along route # Maximum depth: 1872.135760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.135760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725090; longitude = -122.738394; captureRadius = 10; duration = 206; initialDepth = 1779.375022; finalDepth = 1797.135760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1797.13576 # Seafloor depth: -1872.135760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.352937 meters # Minimum depth: 1854.375022 meters looking forward 0.000000 meters along route # Maximum depth: 1854.375022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.375022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725849; longitude = -122.737731; captureRadius = 10; duration = 206; initialDepth = 1775.099101; finalDepth = 1779.375022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1779.375022 # Seafloor depth: -1854.375022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.352620 meters # Minimum depth: 1850.099101 meters looking forward 0.000000 meters along route # Maximum depth: 1850.099101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1775.099101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726608; longitude = -122.737068; captureRadius = 10; duration = 206; initialDepth = 1777.457022; finalDepth = 1775.099101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1775.099101 # Seafloor depth: -1850.099101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.849648 meters # Minimum depth: 1852.457022 meters looking forward 0.000000 meters along route # Maximum depth: 1852.457022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1777.457022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727367; longitude = -122.736405; captureRadius = 10; duration = 207; initialDepth = 1779.446100; finalDepth = 1777.457022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1777.457022 # Seafloor depth: -1852.457022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.854640 meters # Minimum depth: 1854.446100 meters looking forward 0.000000 meters along route # Maximum depth: 1854.446100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.446100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728130; longitude = -122.735739; captureRadius = 10; duration = 205; initialDepth = 1775.586359; finalDepth = 1779.446100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1779.4461 # Seafloor depth: -1854.446100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.778391 meters # Minimum depth: 1850.586359 meters looking forward 0.000000 meters along route # Maximum depth: 1850.586359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1775.586359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728886; longitude = -122.735079; captureRadius = 10; duration = 211; initialDepth = 1785.032953; finalDepth = 1775.586359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1775.586359 # Seafloor depth: -1850.586359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.924625 meters # Minimum depth: 1860.032953 meters looking forward 0.000000 meters along route # Maximum depth: 1860.032953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1785.032953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729662; longitude = -122.734401; captureRadius = 10; duration = 201; initialDepth = 1800.526330; finalDepth = 1785.032953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1785.032953 # Seafloor depth: -1860.032953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.351032 meters # Minimum depth: 1875.526330 meters looking forward 0.000000 meters along route # Maximum depth: 1875.526330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1800.526330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730404; longitude = -122.733753; captureRadius = 10; duration = 206; initialDepth = 1803.437205; finalDepth = 1800.526330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1800.52633 # Seafloor depth: -1875.526330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.350715 meters # Minimum depth: 1878.437205 meters looking forward 0.000000 meters along route # Maximum depth: 1878.437205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1803.437205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731163; longitude = -122.733090; captureRadius = 10; duration = 206; initialDepth = 1797.657116; finalDepth = 1803.437205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1803.437205 # Seafloor depth: -1878.437205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.350396 meters # Minimum depth: 1872.657116 meters looking forward 0.000000 meters along route # Maximum depth: 1872.657116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.657116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731922; longitude = -122.732427; captureRadius = 10; duration = 206; initialDepth = 1756.208141; finalDepth = 1797.657116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1797.657116 # Seafloor depth: -1872.657116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.463996 meters # Minimum depth: 1831.208141 meters looking forward 0.000000 meters along route # Maximum depth: 1831.208141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1756.208141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732681; longitude = -122.731764; captureRadius = 10; duration = 208; initialDepth = 1743.572037; finalDepth = 1756.208141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1756.208141 # Seafloor depth: -1831.208141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.235845 meters # Minimum depth: 1818.572037 meters looking forward 0.000000 meters along route # Maximum depth: 1818.572037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1743.572037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733448; longitude = -122.731094; captureRadius = 10; duration = 204; initialDepth = 1739.386045; finalDepth = 1743.572037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1743.572037 # Seafloor depth: -1818.572037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.392695 meters # Minimum depth: 1814.386045 meters looking forward 0.000000 meters along route # Maximum depth: 1814.386045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1739.386045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734199; longitude = -122.730439; captureRadius = 10; duration = 212; initialDepth = 1746.655186; finalDepth = 1739.386045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1739.386045 # Seafloor depth: -1814.386045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.305875 meters # Minimum depth: 1821.655186 meters looking forward 0.000000 meters along route # Maximum depth: 1821.655186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1746.655186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734980; longitude = -122.729756; captureRadius = 10; duration = 200; initialDepth = 1761.904596; finalDepth = 1746.655186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1746.655186 # Seafloor depth: -1821.655186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.348809 meters # Minimum depth: 1836.904596 meters looking forward 0.000000 meters along route # Maximum depth: 1836.904596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1761.904596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735717; longitude = -122.729113; captureRadius = 10; duration = 206; initialDepth = 1779.527247; finalDepth = 1761.904596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1761.904596 # Seafloor depth: -1836.904596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.348491 meters # Minimum depth: 1854.527247 meters looking forward 0.000000 meters along route # Maximum depth: 1854.527247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.527247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736476; longitude = -122.728450; captureRadius = 10; duration = 206; initialDepth = 1764.715452; finalDepth = 1779.527247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1779.527247 # Seafloor depth: -1854.527247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.348174 meters # Minimum depth: 1839.715452 meters looking forward 0.000000 meters along route # Maximum depth: 1839.715452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1764.715452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737235; longitude = -122.727787; captureRadius = 10; duration = 206; initialDepth = 1746.339992; finalDepth = 1764.715452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1764.715452 # Seafloor depth: -1839.715452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.078318 meters # Minimum depth: 1821.339992 meters looking forward 0.000000 meters along route # Maximum depth: 1821.339992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1746.339992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737994; longitude = -122.727124; captureRadius = 10; duration = 210; initialDepth = 1732.765620; finalDepth = 1746.339992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1746.339992 # Seafloor depth: -1821.339992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.617077 meters # Minimum depth: 1807.765620 meters looking forward 0.000000 meters along route # Maximum depth: 1807.765620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1732.765620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738766; longitude = -122.726450; captureRadius = 10; duration = 203; initialDepth = 1759.263867; finalDepth = 1732.765620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1732.76562 # Seafloor depth: -1807.765620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.347221 meters # Minimum depth: 1834.263867 meters looking forward 0.000000 meters along route # Maximum depth: 1834.263867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1759.263867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739512; longitude = -122.725798; captureRadius = 10; duration = 206; initialDepth = 1763.146894; finalDepth = 1759.263867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1759.263867 # Seafloor depth: -1834.263867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.346903 meters # Minimum depth: 1838.146894 meters looking forward 0.000000 meters along route # Maximum depth: 1838.146894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1763.146894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740271; longitude = -122.725135; captureRadius = 10; duration = 206; initialDepth = 1743.824750; finalDepth = 1763.146894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1763.146894 # Seafloor depth: -1838.146894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.346586 meters # Minimum depth: 1818.824750 meters looking forward 0.000000 meters along route # Maximum depth: 1818.824750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1743.824750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741030; longitude = -122.724472; captureRadius = 10; duration = 206; initialDepth = 1708.772100; finalDepth = 1743.824750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1743.82475 # Seafloor depth: -1818.824750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.763982 meters # Minimum depth: 1783.772100 meters looking forward 0.000000 meters along route # Maximum depth: 1783.772100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1708.772100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741789; longitude = -122.723810; captureRadius = 10; duration = 207; initialDepth = 1664.856752; finalDepth = 1708.772100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1708.7721 # Seafloor depth: -1783.772100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.928237 meters # Minimum depth: 1739.856752 meters looking forward 0.000000 meters along route # Maximum depth: 1739.856752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1664.856752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742552; longitude = -122.723144; captureRadius = 10; duration = 205; initialDepth = 1617.837961; finalDepth = 1664.856752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1664.856752 # Seafloor depth: -1739.856752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.692614 meters # Minimum depth: 1692.837961 meters looking forward 0.000000 meters along route # Maximum depth: 1692.837961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1617.837961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743308; longitude = -122.722484; captureRadius = 10; duration = 211; initialDepth = 1571.880621; finalDepth = 1617.837961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1617.837961 # Seafloor depth: -1692.837961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.998335 meters # Minimum depth: 1646.880621 meters looking forward 0.000000 meters along route # Maximum depth: 1646.880621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1571.880621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744084; longitude = -122.721806; captureRadius = 10; duration = 201; initialDepth = 1524.299516; finalDepth = 1571.880621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1571.880621 # Seafloor depth: -1646.880621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.344998 meters # Minimum depth: 1599.299516 meters looking forward 0.000000 meters along route # Maximum depth: 1599.299516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1524.299516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744826; longitude = -122.721158; captureRadius = 10; duration = 206; initialDepth = 1479.236410; finalDepth = 1524.299516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1524.299516 # Seafloor depth: -1599.299516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.344681 meters # Minimum depth: 1554.236410 meters looking forward 0.000000 meters along route # Maximum depth: 1554.236410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1479.236410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745585; longitude = -122.720495; captureRadius = 10; duration = 206; initialDepth = 1443.952158; finalDepth = 1479.236410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1479.23641 # Seafloor depth: -1554.236410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.344363 meters # Minimum depth: 1518.952158 meters looking forward 0.000000 meters along route # Maximum depth: 1518.952158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1443.952158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746344; longitude = -122.719832; captureRadius = 10; duration = 206; initialDepth = 1433.434397; finalDepth = 1443.952158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1443.952158 # Seafloor depth: -1518.952158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.378297 meters # Minimum depth: 1508.434397 meters looking forward 0.000000 meters along route # Maximum depth: 1508.434397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.434397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747103; longitude = -122.719169; captureRadius = 10; duration = 208; initialDepth = 1441.205892; finalDepth = 1433.434397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1433.434397 # Seafloor depth: -1508.434397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.309477 meters # Minimum depth: 1516.205892 meters looking forward 0.000000 meters along route # Maximum depth: 1516.205892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1441.205892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747870; longitude = -122.718500; captureRadius = 10; duration = 204; initialDepth = 1470.623681; finalDepth = 1441.205892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1441.205892 # Seafloor depth: -1516.205892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.306884 meters # Minimum depth: 1545.623681 meters looking forward 0.000000 meters along route # Maximum depth: 1545.623681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1470.623681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748621; longitude = -122.717843; captureRadius = 10; duration = 212; initialDepth = 1512.416955; finalDepth = 1470.623681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1470.623681 # Seafloor depth: -1545.623681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.379621 meters # Minimum depth: 1587.416955 meters looking forward 0.000000 meters along route # Maximum depth: 1587.416955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.416955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749402; longitude = -122.717161; captureRadius = 10; duration = 200; initialDepth = 1549.603147; finalDepth = 1512.416955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1512.416955 # Seafloor depth: -1587.416955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.342775 meters # Minimum depth: 1624.603147 meters looking forward 0.000000 meters along route # Maximum depth: 1624.603147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1549.603147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750139; longitude = -122.716518; captureRadius = 10; duration = 206; initialDepth = 1597.792673; finalDepth = 1549.603147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1549.603147 # Seafloor depth: -1624.603147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.342459 meters # Minimum depth: 1699.614207 meters looking forward 0.000000 meters along route # Maximum depth: 1699.614207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1597.792673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750898; longitude = -122.715855; captureRadius = 10; duration = 206; initialDepth = 1645.982053; finalDepth = 1597.792673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.821533538948 # Actual altitude: 100 # Commanded vehicle depth: 1597.79267346105 # Seafloor depth: -1699.614207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.163986 meters # Minimum depth: 1745.629448 meters looking forward 0.000000 meters along route # Maximum depth: 1745.629448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1645.982053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751657; longitude = -122.715192; captureRadius = 10; duration = 220; initialDepth = 1660.511200; finalDepth = 1645.982053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.821533538948 # Actual altitude: 100 # Commanded vehicle depth: 1645.98205256889 # Seafloor depth: -1745.629448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.261181 meters # Minimum depth: 1735.511200 meters looking forward 0.000000 meters along route # Maximum depth: 1735.511200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1660.511200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752466; longitude = -122.714485; captureRadius = 10; duration = 204; initialDepth = 1625.506022; finalDepth = 1660.511200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 99.6473954311118 # Actual altitude: 99.6473954311118 # Commanded vehicle depth: 1660.5112 # Seafloor depth: -1735.511200 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; 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 1 # Segment length 154.225069 meters # Minimum depth: 1700.506022 meters looking forward 0.000000 meters along route # Maximum depth: 1700.506022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1625.506022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753218; longitude = -122.713829; captureRadius = 10; duration = 308; # abortOnTimeout = True; initialDepth = 1652.168450; finalDepth = 1625.506022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1625.506022 # Seafloor depth: -1700.506022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.599073 meters # Minimum depth: 1727.168450 meters looking forward 0.000000 meters along route # Maximum depth: 1727.168450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1652.168450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751926; longitude = -122.713198; captureRadius = 10; duration = 215; initialDepth = 1667.189388; finalDepth = 1652.168450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1652.16845 # Seafloor depth: -1727.168450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.599228 meters # Minimum depth: 1742.189388 meters looking forward 0.000000 meters along route # Maximum depth: 1742.189388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1667.189388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751024; longitude = -122.712758; captureRadius = 10; duration = 215; initialDepth = 1671.613386; finalDepth = 1667.189388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1667.189388 # Seafloor depth: -1742.189388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.706982 meters # Minimum depth: 1746.613386 meters looking forward 0.000000 meters along route # Maximum depth: 1746.613386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1671.613386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750123; longitude = -122.712318; captureRadius = 10; duration = 215; initialDepth = 1685.167574; finalDepth = 1671.613386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1671.613386 # Seafloor depth: -1746.613386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.029937 meters # Minimum depth: 1760.167574 meters looking forward 0.000000 meters along route # Maximum depth: 1760.167574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1685.167574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749221; longitude = -122.711877; captureRadius = 10; duration = 216; initialDepth = 1694.670923; finalDepth = 1685.167574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1685.167574 # Seafloor depth: -1760.167574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.030092 meters # Minimum depth: 1769.670923 meters looking forward 0.000000 meters along route # Maximum depth: 1769.670923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1694.670923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748316; longitude = -122.711435; captureRadius = 10; duration = 216; initialDepth = 1704.037559; finalDepth = 1694.670923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1694.670923 # Seafloor depth: -1769.670923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.631449 meters # Minimum depth: 1779.037559 meters looking forward 0.000000 meters along route # Maximum depth: 1779.037559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1704.037559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747411; longitude = -122.710993; captureRadius = 10; duration = 213; initialDepth = 1701.447389; finalDepth = 1704.037559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1704.037559 # Seafloor depth: -1779.037559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.426664 meters # Minimum depth: 1776.447389 meters looking forward 0.000000 meters along route # Maximum depth: 1776.447389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1953.691820 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.447389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746518; longitude = -122.710557; captureRadius = 10; duration = 200; initialDepth = 1701.070638; finalDepth = 1701.447389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1701.447389 # Seafloor depth: -1776.447389 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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: 75 # Sonar parameter altitude: 75 # Commanded vehicle depth: 1701.070638 # Seafloor depth: -1776.070638 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.426664 meters # Minimum depth: 1776.070638 meters looking forward 0.000000 meters along route # Maximum depth: 1776.070638 meters looking forward 0.000000 meters along route # Vehicle depth: 1701.070638 meters behavior waypoint { latitude = 35.745676; longitude = -122.710146; captureRadius = 10; duration = 1000; depth = 1701.070638; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1701.070638 meters set by local depth and desired altitude behavior descend { duration = 5110; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1691.070638; minAltitude = 75.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.426664 meters # Minimum depth: 1776.070638 meters looking forward 0.000000 meters along route # Maximum depth: 1776.070638 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.745676; longitude = -122.710146; captureRadius = 10; duration = 1000; depth = 30.000000; 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 = 338.124148; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 75.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 338.124148; 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 = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################