# 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: 2009MBCanyon_1v4.rte # Mission File: 2009MBCanyon_1v4.cfg # Distance: 81171.192682 (m) # Estimated Time: 57528 (s) 15.980 (hr) # Abort Time: 61042 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1957 (s) # Way Points: 85 # Route Points: 1017 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1905.40018 (m) # Abort Vehicle Depth: 1930.40018 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.968680 36.732373 -117.534576 0.000000 3 # 1 -121.985895 36.734836 -494.968262 1561.320788 1 # 2 -122.002625 36.733725 -828.416829 3060.255449 1 # 3 -122.011700 36.731202 -1202.168294 3917.543700 1 # 4 -122.006658 36.723632 -1266.331706 4870.376034 3 # 5 -122.009676 36.721585 -1384.608398 5222.817077 1 # 6 -122.010121 36.718914 -1416.771851 5521.787677 1 # 7 -122.011902 36.714462 -1452.514099 6040.669615 1 # 8 -122.013238 36.710455 -1432.367432 6500.938007 1 # 9 -122.015315 36.706152 -1473.978455 7013.089812 1 # 10 -122.018134 36.702887 -1517.307587 7454.235163 1 # 11 -122.021548 36.699920 -1540.990448 7902.958739 1 # 12 -122.028670 36.696358 -1572.715149 8651.929815 1 # 13 -122.043806 36.693242 -1627.046539 10047.644152 1 # 14 -122.058942 36.693242 -1664.450439 11399.896347 1 # 15 -122.078679 36.696655 -1777.521576 13203.351414 1 # 16 -122.086543 36.699474 -1819.163574 13972.337058 1 # 17 -122.094111 36.697249 -1829.916748 14692.063669 1 # 18 -122.108792 36.716723 -1695.401367 17219.304786 4 # 19 -122.113422 36.714440 -1699.303385 17704.257559 3 # 20 -122.096639 36.692353 -1804.173065 20576.807520 4 # 21 -122.096041 36.696210 -1848.160736 21008.011686 3 # 22 -122.110583 36.688345 -1918.404144 22572.994136 4 # 23 -122.111473 36.689680 -1891.633179 22741.090330 3 # 24 -122.082982 36.703926 -1797.356781 25737.082611 4 # 25 -122.084911 36.704668 -1807.039093 25928.045969 3 # 26 -122.111919 36.691016 -1884.068909 28776.731402 4 # 27 -122.112067 36.693094 -1898.624817 29007.635499 3 # 28 -122.086543 36.705262 -1807.812683 31657.375120 4 # 29 -122.088473 36.706004 -1812.308228 31848.416276 3 # 30 -122.112512 36.694429 -1888.925049 34350.487366 4 # 31 -122.112809 36.695913 -1888.944275 34517.241038 3 # 32 -122.090105 36.706597 -1813.188965 36866.325096 4 # 33 -122.091886 36.707488 -1805.142395 37053.617278 3 # 34 -122.113254 36.697249 -1878.109497 39274.798842 4 # 35 -122.113403 36.698881 -1874.388947 39456.335332 3 # 36 -122.093666 36.707933 -1805.893066 41485.320882 4 # 37 -122.096046 36.708544 -1801.778595 41708.451946 3 # 38 -122.113254 36.700365 -1860.393097 43493.400588 4 # 39 -122.113403 36.701997 -1845.203156 43674.937132 3 # 40 -122.096925 36.709696 -1776.657562 45376.686999 4 # 41 -122.097804 36.710848 -1756.318115 45526.676139 3 # 42 -122.113848 36.703333 -1824.531555 47184.631466 4 # 43 -122.114293 36.704668 -1783.359192 47337.973177 3 # 44 -122.098683 36.712000 -1755.437042 48952.193046 4 # 45 -122.099563 36.713152 -1758.858734 49102.227725 3 # 46 -122.114293 36.706004 -1792.519348 50638.406100 4 # 47 -122.114540 36.707329 -1787.458160 50787.043293 3 # 48 -122.100442 36.714304 -1752.854462 52265.004037 4 # 49 -122.101321 36.715456 -1718.940094 52414.990713 3 # 50 -122.115419 36.708481 -1755.581329 53892.935288 4 # 51 -122.116298 36.709633 -1733.243774 54042.924566 3 # 52 -122.102200 36.716608 -1697.510468 55520.852972 4 # 53 -122.103079 36.717760 -1692.074127 55670.838416 3 # 54 -122.117178 36.710785 -1707.455902 57148.826750 4 # 55 -122.099530 36.707051 -1834.959961 58778.646612 1 # 56 -122.090550 36.698584 -1831.968018 60013.888242 3 # 57 -122.081350 36.702887 -1797.015289 60964.309900 3 # 58 -122.076898 36.701107 -1783.540924 61408.331196 1 # 59 -122.060278 36.697249 -1717.449005 62953.502960 1 # 60 -122.044252 36.695468 -1640.784546 64398.778788 1 # 61 -122.030006 36.698584 -1577.699921 65717.570517 1 # 62 -122.022438 36.701255 -1531.181183 66455.726701 1 # 63 -122.020212 36.704371 -1508.058746 66854.521478 1 # 64 -122.018580 36.707339 -1494.352051 67214.614642 1 # 65 -122.016354 36.711791 -1461.808594 67747.032024 1 # 66 -122.015018 36.714907 -1449.271851 68112.732427 1 # 67 -122.013534 36.721288 -1418.770355 68832.932134 4 # 68 -122.011457 36.721140 -1408.625702 69019.150944 3 # 69 -122.012347 36.718023 -1429.135040 69373.964655 1 # 70 -122.013534 36.714610 -1451.340485 69767.159965 1 # 71 -122.015018 36.710901 -1458.190247 70199.452962 1 # 72 -122.017096 36.706597 -1501.083679 70711.739997 1 # 73 -122.019322 36.703481 -1522.616364 71110.532264 1 # 74 -122.022141 36.700662 -1536.685425 71512.051256 1 # 75 -122.029264 36.697545 -1580.243591 72236.262655 1 # 76 -122.043955 36.694429 -1642.532806 73593.476097 1 # 77 -122.058942 36.694577 -1712.134857 74932.495389 1 # 78 -122.078085 36.698139 -1792.255249 76687.718831 1 # 79 -122.084318 36.700365 -1812.195129 77296.833023 4 # 80 -122.081795 36.701552 -1803.613129 77557.863454 3 # 81 -122.075414 36.699474 -1777.542694 78172.736337 1 # 82 -122.058942 36.695913 -1707.059967 79696.362766 1 # 83 -122.048852 36.695319 -1655.423706 80600.181968 1 # 84 -122.042471 36.695023 -1631.281189 81171.192682 4 # # A total of 1017 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 59400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1905.400180; abortDepth = 1930.400180; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1957; 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 84 # Segment length 84.671703 meters # Minimum depth: 1631.281189 meters looking forward 100.000000 meters along route # Maximum depth: 1643.051756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.281189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695023; longitude = -122.042471; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1592.356454; finalDepth = 1581.281189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1581.281189 # Seafloor depth:-1631.281189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1643.868751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695068; longitude = -122.043441; captureRadius = 10; duration = 84; initialDepth = 1592.356454; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2295919999999 # Actual altitude: 51.2295919999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1643.586046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1642.356454 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.356454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695110; longitude = -122.044337; captureRadius = 10; duration = 84; initialDepth = 1594.937515; finalDepth = 1592.356454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2295919999999 # Actual altitude: 51.2295919999999 # Commanded vehicle depth:1592.356454 # Seafloor depth:-1642.399710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1644.937515 meters looking forward 100.000000 meters along route # Maximum depth: 1646.888829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.937515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695151; longitude = -122.045234; captureRadius = 10; duration = 84; initialDepth = 1595.740354; finalDepth = 1594.937515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1594.937515 # Seafloor depth:-1646.865378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1645.740354 meters looking forward 100.000000 meters along route # Maximum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.740354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695193; longitude = -122.046130; captureRadius = 10; duration = 84; initialDepth = 1598.423071; finalDepth = 1595.740354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9278629999999 # Actual altitude: 51.9278629999999 # Commanded vehicle depth:1595.740354 # Seafloor depth:-1646.328712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1648.423071 meters looking forward 100.000000 meters along route # Maximum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.423071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695234; longitude = -122.047026; captureRadius = 10; duration = 84; initialDepth = 1603.015119; finalDepth = 1598.423071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.835699 # Actual altitude: 50.835699 # Commanded vehicle depth:1598.423071 # Seafloor depth:-1649.258770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 84.671703 meters # Minimum depth: 1653.015119 meters looking forward 100.000000 meters along route # Maximum depth: 1657.675477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.015119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695276; longitude = -122.047922; captureRadius = 10; duration = 84; initialDepth = 1605.423706; finalDepth = 1603.015119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1603.015119 # Seafloor depth:-1653.987159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 84.671703 meters # Minimum depth: 1655.423706 meters looking forward 100.000000 meters along route # Maximum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.423706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695319; longitude = -122.048852; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1612.393209; finalDepth = 1605.423706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9720400000001 # Actual altitude: 50.9720400000001 # Commanded vehicle depth:1605.423706 # Seafloor depth:-1655.423706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1662.393209 meters looking forward 100.000000 meters along route # Maximum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.393209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695383; longitude = -122.049939; captureRadius = 10; duration = 84; initialDepth = 1614.330813; finalDepth = 1612.393209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1612.393209 # Seafloor depth:-1663.120504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1664.330813 meters looking forward 100.000000 meters along route # Maximum depth: 1673.234849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.330813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695436; longitude = -122.050835; captureRadius = 10; duration = 84; initialDepth = 1622.875859; finalDepth = 1614.330813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7272949999999 # Actual altitude: 50.7272949999999 # Commanded vehicle depth:1614.330813 # Seafloor depth:-1664.356862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1672.875859 meters looking forward 100.000000 meters along route # Maximum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.875859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695489; longitude = -122.051731; captureRadius = 10; duration = 84; initialDepth = 1624.308261; finalDepth = 1622.875859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542285 # Actual altitude: 50.542285 # Commanded vehicle depth:1622.875859 # Seafloor depth:-1673.418144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1674.308261 meters looking forward 100.000000 meters along route # Maximum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.308261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695541; longitude = -122.052628; captureRadius = 10; duration = 84; initialDepth = 1626.209100; finalDepth = 1624.308261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5652240000002 # Actual altitude: 50.5652240000002 # Commanded vehicle depth:1624.308261 # Seafloor depth:-1674.873485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1676.209100 meters looking forward 100.000000 meters along route # Maximum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.209100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695594; longitude = -122.053524; captureRadius = 10; duration = 84; initialDepth = 1632.900565; finalDepth = 1626.209100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7739369999999 # Actual altitude: 50.7739369999999 # Commanded vehicle depth:1626.2091 # Seafloor depth:-1676.983037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1682.900565 meters looking forward 100.000000 meters along route # Maximum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.900565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695647; longitude = -122.054420; captureRadius = 10; duration = 84; initialDepth = 1642.418462; finalDepth = 1632.900565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1632.900565 # Seafloor depth:-1684.222186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1692.418462 meters looking forward 100.000000 meters along route # Maximum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.418462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695700; longitude = -122.055316; captureRadius = 10; duration = 84; initialDepth = 1651.266226; finalDepth = 1642.418462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3216210000001 # Actual altitude: 51.3216210000001 # Commanded vehicle depth:1642.418462 # Seafloor depth:-1693.252432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1701.266226 meters looking forward 100.000000 meters along route # Maximum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.266226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695752; longitude = -122.056212; captureRadius = 10; duration = 84; initialDepth = 1655.104456; finalDepth = 1651.266226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8339699999999 # Actual altitude: 50.8339699999999 # Commanded vehicle depth:1651.266226 # Seafloor depth:-1702.016652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1705.104456 meters looking forward 100.000000 meters along route # Maximum depth: 1707.693492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.104456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695805; longitude = -122.057109; captureRadius = 10; duration = 84; initialDepth = 1656.181082; finalDepth = 1655.104456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7504260000001 # Actual altitude: 50.7504260000001 # Commanded vehicle depth:1655.104456 # Seafloor depth:-1705.691458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 84.671703 meters # Minimum depth: 1706.181082 meters looking forward 100.000000 meters along route # Maximum depth: 1707.419437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.181082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695858; longitude = -122.058005; captureRadius = 10; duration = 84; initialDepth = 1657.059967; finalDepth = 1656.181082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587002 # Actual altitude: 50.587002 # Commanded vehicle depth:1656.181082 # Seafloor depth:-1706.405239 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 84.671703 meters # Minimum depth: 1707.059967 meters looking forward 100.000000 meters along route # Maximum depth: 1717.295008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.059967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1666.559190; finalDepth = 1657.059967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2241569999999 # Actual altitude: 50.2241569999999 # Commanded vehicle depth:1657.059967 # Seafloor depth:-1707.059967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1716.559190 meters looking forward 100.000000 meters along route # Maximum depth: 1720.773137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.559190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.060303; captureRadius = 10; duration = 84; initialDepth = 1668.679242; finalDepth = 1666.559190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.950347 # Actual altitude: 50.950347 # Commanded vehicle depth:1666.55919 # Seafloor depth:-1717.509537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1718.679242 meters looking forward 100.000000 meters along route # Maximum depth: 1726.081270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.679242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696389; longitude = -122.061142; captureRadius = 10; duration = 84; initialDepth = 1675.818737; finalDepth = 1668.679242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1668.679242 # Seafloor depth:-1720.825513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1725.818737 meters looking forward 100.000000 meters along route # Maximum depth: 1730.721628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.818737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.061970; captureRadius = 10; duration = 84; initialDepth = 1678.861161; finalDepth = 1675.818737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1462710000001 # Actual altitude: 52.1462710000001 # Commanded vehicle depth:1675.818737 # Seafloor depth:-1726.078773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1728.861161 meters looking forward 100.000000 meters along route # Maximum depth: 1732.818895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.861161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696752; longitude = -122.062822; captureRadius = 10; duration = 84; initialDepth = 1682.594487; finalDepth = 1678.861161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1678.861161 # Seafloor depth:-1730.831506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1732.594487 meters looking forward 100.000000 meters along route # Maximum depth: 1741.203065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.594487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.063637; captureRadius = 10; duration = 84; initialDepth = 1690.156408; finalDepth = 1682.594487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.970345 # Actual altitude: 51.970345 # Commanded vehicle depth:1682.594487 # Seafloor depth:-1732.888063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1740.156408 meters looking forward 100.000000 meters along route # Maximum depth: 1744.169347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.156408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.064471; captureRadius = 10; duration = 84; initialDepth = 1692.376571; finalDepth = 1690.156408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4929119999999 # Actual altitude: 51.4929119999999 # Commanded vehicle depth:1690.156408 # Seafloor depth:-1741.649320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1742.376571 meters looking forward 100.000000 meters along route # Maximum depth: 1744.960960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.376571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.065305; captureRadius = 10; duration = 84; initialDepth = 1691.421407; finalDepth = 1692.376571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1692.376571 # Seafloor depth:-1744.227638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1741.421407 meters looking forward 100.000000 meters along route # Maximum depth: 1751.694444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.421407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.066138; captureRadius = 10; duration = 84; initialDepth = 1698.156223; finalDepth = 1691.421407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8510670000001 # Actual altitude: 51.8510670000001 # Commanded vehicle depth:1691.421407 # Seafloor depth:-1741.912847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1748.156223 meters looking forward 100.000000 meters along route # Maximum depth: 1751.866076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.156223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.066972; captureRadius = 10; duration = 84; initialDepth = 1698.856713; finalDepth = 1698.156223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.156223 # Seafloor depth:-1751.710291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1748.856713 meters looking forward 100.000000 meters along route # Maximum depth: 1755.650933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.856713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.067806; captureRadius = 10; duration = 84; initialDepth = 1704.938274; finalDepth = 1698.856713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5540680000001 # Actual altitude: 53.5540680000001 # Commanded vehicle depth:1698.856713 # Seafloor depth:-1749.737284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1754.938274 meters looking forward 100.000000 meters along route # Maximum depth: 1757.937806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.938274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698011; longitude = -122.068648; captureRadius = 10; duration = 84; initialDepth = 1707.033136; finalDepth = 1704.938274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8805710000001 # Actual altitude: 50.8805710000001 # Commanded vehicle depth:1704.938274 # Seafloor depth:-1755.658931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1757.033136 meters looking forward 100.000000 meters along route # Maximum depth: 1760.804765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.033136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.069473; captureRadius = 10; duration = 84; initialDepth = 1710.691785; finalDepth = 1707.033136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1707.033136 # Seafloor depth:-1758.276684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1760.691785 meters looking forward 100.000000 meters along route # Maximum depth: 1762.794704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.691785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698375; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1712.715977; finalDepth = 1710.691785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2435479999999 # Actual altitude: 51.2435479999999 # Commanded vehicle depth:1710.691785 # Seafloor depth:-1760.831715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1762.715977 meters looking forward 100.000000 meters along route # Maximum depth: 1768.181400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.715977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.071141; captureRadius = 10; duration = 84; initialDepth = 1717.138806; finalDepth = 1712.715977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.13993 # Actual altitude: 50.13993 # Commanded vehicle depth:1712.715977 # Seafloor depth:-1762.715977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1767.138806 meters looking forward 100.000000 meters along route # Maximum depth: 1768.895170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.138806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.071974; captureRadius = 10; duration = 84; initialDepth = 1718.438012; finalDepth = 1717.138806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1717.138806 # Seafloor depth:-1768.604104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1768.438012 meters looking forward 100.000000 meters along route # Maximum depth: 1771.073607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.438012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698911; longitude = -122.072808; captureRadius = 10; duration = 84; initialDepth = 1720.898380; finalDepth = 1718.438012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4652980000001 # Actual altitude: 51.4652980000001 # Commanded vehicle depth:1718.438012 # Seafloor depth:-1768.864492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1770.898380 meters looking forward 100.000000 meters along route # Maximum depth: 1774.692305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.898380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699101; longitude = -122.073689; captureRadius = 10; duration = 84; initialDepth = 1724.502676; finalDepth = 1720.898380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4264799999999 # Actual altitude: 50.4264799999999 # Commanded vehicle depth:1720.89838 # Seafloor depth:-1771.209433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 84.671703 meters # Minimum depth: 1774.502676 meters looking forward 100.000000 meters along route # Maximum depth: 1777.443764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.502676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699295; longitude = -122.074585; captureRadius = 10; duration = 84; initialDepth = 1727.342759; finalDepth = 1724.502676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.537973 # Actual altitude: 50.537973 # Commanded vehicle depth:1724.502676 # Seafloor depth:-1775.040649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 84.671703 meters # Minimum depth: 1777.342759 meters looking forward 100.000000 meters along route # Maximum depth: 1781.474714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.342759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.075414; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1731.379215; finalDepth = 1727.342759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.537973 # Actual altitude: 50.537973 # Commanded vehicle depth:1727.342759 # Seafloor depth:-1777.542694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1781.379215 meters looking forward 100.000000 meters along route # Maximum depth: 1784.301006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.379215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699751; longitude = -122.076266; captureRadius = 10; duration = 84; initialDepth = 1733.681996; finalDepth = 1731.379215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1999350000001 # Actual altitude: 50.1999350000001 # Commanded vehicle depth:1731.379215 # Seafloor depth:-1781.510300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1783.681996 meters looking forward 100.000000 meters along route # Maximum depth: 1787.853539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.681996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700007; longitude = -122.077050; captureRadius = 10; duration = 84; initialDepth = 1736.809205; finalDepth = 1733.681996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8085329999999 # Actual altitude: 50.8085329999999 # Commanded vehicle depth:1733.681996 # Seafloor depth:-1784.490529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1786.809205 meters looking forward 100.000000 meters along route # Maximum depth: 1790.538494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.809205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700262; longitude = -122.077835; captureRadius = 10; duration = 84; initialDepth = 1739.992094; finalDepth = 1736.809205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0480150000001 # Actual altitude: 51.0480150000001 # Commanded vehicle depth:1736.809205 # Seafloor depth:-1787.857220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1789.992094 meters looking forward 100.000000 meters along route # Maximum depth: 1793.149058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.992094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700517; longitude = -122.078618; captureRadius = 10; duration = 84; initialDepth = 1743.001873; finalDepth = 1739.992094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1739.992094 # Seafloor depth:-1791.107106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1793.001873 meters looking forward 100.000000 meters along route # Maximum depth: 1797.652772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.001873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700773; longitude = -122.079403; captureRadius = 10; duration = 84; initialDepth = 1747.475504; finalDepth = 1743.001873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.115012 # Actual altitude: 51.115012 # Commanded vehicle depth:1743.001873 # Seafloor depth:-1793.674877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1797.475504 meters looking forward 100.000000 meters along route # Maximum depth: 1799.904991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.475504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701028; longitude = -122.080187; captureRadius = 10; duration = 84; initialDepth = 1749.822543; finalDepth = 1747.475504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.673004 # Actual altitude: 50.673004 # Commanded vehicle depth:1747.475504 # Seafloor depth:-1797.610821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 84.671703 meters # Minimum depth: 1799.822543 meters looking forward 100.000000 meters along route # Maximum depth: 1803.569425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.822543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701284; longitude = -122.080971; captureRadius = 10; duration = 84; initialDepth = 1753.613129; finalDepth = 1749.822543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4504489999999 # Actual altitude: 50.4504489999999 # Commanded vehicle depth:1749.822543 # Seafloor depth:-1800.272992 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; 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 80 # Segment length 84.671703 meters # Minimum depth: 1803.613129 meters looking forward 100.000000 meters along route # Maximum depth: 1807.233070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.613129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701552; longitude = -122.081795; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1756.472036; finalDepth = 1753.613129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4504489999999 # Actual altitude: 50.4504489999999 # Commanded vehicle depth:1753.613129 # Seafloor depth:-1803.613129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.671703 meters # Minimum depth: 1806.472036 meters looking forward 100.000000 meters along route # Maximum depth: 1810.229953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.472036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.082812; captureRadius = 10; duration = 84; initialDepth = 1759.477765; finalDepth = 1756.472036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9196460000001 # Actual altitude: 50.9196460000001 # Commanded vehicle depth:1756.472036 # Seafloor depth:-1807.391682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 84.671703 meters # Minimum depth: 1809.477765 meters looking forward 100.000000 meters along route # Maximum depth: 1812.029132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.477765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.083579; captureRadius = 10; duration = 84; initialDepth = 1761.119331; finalDepth = 1759.477765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50.9196460000001 # Actual altitude: 50.9196460000001 # Commanded vehicle depth:1759.477765 # Seafloor depth:-1810.315083 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 84.671703 meters # Minimum depth: 1811.119331 meters looking forward 100.000000 meters along route # Maximum depth: 1812.328336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.119331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.084318; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1759.105787; finalDepth = 1761.119331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0757979999998 # Actual altitude: 51.0757979999998 # Commanded vehicle depth:1761.119331 # Seafloor depth:-1812.195129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1809.105787 meters looking forward 100.000000 meters along route # Maximum depth: 1811.826616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.105787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700130; longitude = -122.083660; captureRadius = 10; duration = 84; initialDepth = 1754.844830; finalDepth = 1759.105787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9034670000001 # Actual altitude: 51.9034670000001 # Commanded vehicle depth:1759.105787 # Seafloor depth:-1811.009254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1804.844830 meters looking forward 100.000000 meters along route # Maximum depth: 1809.454255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.844830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699850; longitude = -122.082875; captureRadius = 10; duration = 84; initialDepth = 1753.566547; finalDepth = 1754.844830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1754.84483 # Seafloor depth:-1808.680670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1803.566547 meters looking forward 100.000000 meters along route # Maximum depth: 1805.308050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.566547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699570; longitude = -122.082091; captureRadius = 10; duration = 84; initialDepth = 1751.608586; finalDepth = 1753.566547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.83584 # Actual altitude: 53.83584 # Commanded vehicle depth:1753.566547 # Seafloor depth:-1804.686328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1801.608586 meters looking forward 100.000000 meters along route # Maximum depth: 1803.856734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.608586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699290; longitude = -122.081307; captureRadius = 10; duration = 84; initialDepth = 1746.977807; finalDepth = 1751.608586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0618449999999 # Actual altitude: 52.0618449999999 # Commanded vehicle depth:1751.608586 # Seafloor depth:-1803.670431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1796.977807 meters looking forward 100.000000 meters along route # Maximum depth: 1802.190441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.977807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699010; longitude = -122.080523; captureRadius = 10; duration = 84; initialDepth = 1746.576337; finalDepth = 1746.977807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.977807 # Seafloor depth:-1801.235886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1796.576337 meters looking forward 100.000000 meters along route # Maximum depth: 1798.165305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.576337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.079739; captureRadius = 10; duration = 84; initialDepth = 1742.362211; finalDepth = 1746.576337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.258079 # Actual altitude: 54.258079 # Commanded vehicle depth:1746.576337 # Seafloor depth:-1796.969284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 84.671703 meters # Minimum depth: 1792.362211 meters looking forward 100.000000 meters along route # Maximum depth: 1797.178552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.362211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698449; longitude = -122.078954; captureRadius = 10; duration = 84; initialDepth = 1740.384809; finalDepth = 1742.362211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1742.362211 # Seafloor depth:-1797.178552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 84.671703 meters # Minimum depth: 1790.384809 meters looking forward 100.000000 meters along route # Maximum depth: 1792.617024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.384809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698139; longitude = -122.078085; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1738.972273; finalDepth = 1740.384809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8163410000002 # Actual altitude: 54.8163410000002 # Commanded vehicle depth:1740.384809 # Seafloor depth:-1792.255249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1788.972273 meters looking forward 100.000000 meters along route # Maximum depth: 1790.450453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.972273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697988; longitude = -122.077274; captureRadius = 10; duration = 84; initialDepth = 1736.441224; finalDepth = 1738.972273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8704400000001 # Actual altitude: 51.8704400000001 # Commanded vehicle depth:1738.972273 # Seafloor depth:-1790.422988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum depth: 1789.475967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.441224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.076420; captureRadius = 10; duration = 84; initialDepth = 1732.513710; finalDepth = 1736.441224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.189114 # Actual altitude: 52.189114 # Commanded vehicle depth:1736.441224 # Seafloor depth:-1788.630338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum depth: 1786.441224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.513710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697675; longitude = -122.075594; captureRadius = 10; duration = 84; initialDepth = 1727.278952; finalDepth = 1732.513710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2016190000002 # Actual altitude: 53.2016190000002 # Commanded vehicle depth:1732.51371 # Seafloor depth:-1785.715329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum depth: 1782.513710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.278952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697509; longitude = -122.074697; captureRadius = 10; duration = 84; initialDepth = 1721.381719; finalDepth = 1727.278952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2947730000001 # Actual altitude: 54.2947730000001 # Commanded vehicle depth:1727.278952 # Seafloor depth:-1781.573725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1771.381719 meters looking forward 100.000000 meters along route # Maximum depth: 1777.278952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.381719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697342; longitude = -122.073801; captureRadius = 10; duration = 84; initialDepth = 1715.391761; finalDepth = 1721.381719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9970390000001 # Actual altitude: 54.9970390000001 # Commanded vehicle depth:1721.381719 # Seafloor depth:-1776.378758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1765.391761 meters looking forward 100.000000 meters along route # Maximum depth: 1772.135849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.391761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697175; longitude = -122.072905; captureRadius = 10; duration = 84; initialDepth = 1714.393261; finalDepth = 1715.391761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1715.391761 # Seafloor depth:-1770.559034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum depth: 1766.236325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.393261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.072062; captureRadius = 10; duration = 84; initialDepth = 1708.559060; finalDepth = 1714.393261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.167273 # Actual altitude: 55.167273 # Commanded vehicle depth:1714.393261 # Seafloor depth:-1765.191505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1758.559060 meters looking forward 100.000000 meters along route # Maximum depth: 1764.393261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.559060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696862; longitude = -122.071224; captureRadius = 10; duration = 84; initialDepth = 1707.853383; finalDepth = 1708.559060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1708.55906 # Seafloor depth:-1763.556388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1757.853383 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.853383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696696; longitude = -122.070328; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.853383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9973279999999 # Actual altitude: 54.9973279999999 # Commanded vehicle depth:1707.853383 # Seafloor depth:-1758.114042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1759.079425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696529; longitude = -122.069432; captureRadius = 10; duration = 84; initialDepth = 1707.135327; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1759.075230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1757.135327 meters looking forward 100.000000 meters along route # Maximum depth: 1758.077348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.135327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696362; longitude = -122.068536; captureRadius = 10; duration = 84; initialDepth = 1706.421623; finalDepth = 1707.135327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.939903 # Actual altitude: 51.939903 # Commanded vehicle depth:1707.135327 # Seafloor depth:-1757.473409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1756.421623 meters looking forward 100.000000 meters along route # Maximum depth: 1757.823008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.421623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.067703; captureRadius = 10; duration = 84; initialDepth = 1702.879087; finalDepth = 1706.421623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.088113 # Actual altitude: 51.088113 # Commanded vehicle depth:1706.421623 # Seafloor depth:-1757.509736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1752.879087 meters looking forward 100.000000 meters along route # Maximum depth: 1757.239169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.879087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696049; longitude = -122.066855; captureRadius = 10; duration = 84; initialDepth = 1697.577915; finalDepth = 1702.879087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.004737 # Actual altitude: 54.004737 # Commanded vehicle depth:1702.879087 # Seafloor depth:-1756.883824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum depth: 1753.668001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.577915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695883; longitude = -122.065959; captureRadius = 10; duration = 84; initialDepth = 1693.754648; finalDepth = 1697.577915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1697.577915 # Seafloor depth:-1753.116409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1743.754648 meters looking forward 100.000000 meters along route # Maximum depth: 1747.577915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.754648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695716; longitude = -122.065063; captureRadius = 10; duration = 84; initialDepth = 1686.466626; finalDepth = 1693.754648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5384939999999 # Actual altitude: 55.5384939999999 # Commanded vehicle depth:1693.754648 # Seafloor depth:-1746.924377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1736.466626 meters looking forward 100.000000 meters along route # Maximum depth: 1744.372680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.466626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695549; longitude = -122.064167; captureRadius = 10; duration = 84; initialDepth = 1682.195652; finalDepth = 1686.466626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1686.466626 # Seafloor depth:-1742.796573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1732.195652 meters looking forward 100.000000 meters along route # Maximum depth: 1737.315822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.195652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.063344; captureRadius = 10; duration = 84; initialDepth = 1681.917904; finalDepth = 1682.195652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3299470000002 # Actual altitude: 56.3299470000002 # Commanded vehicle depth:1682.195652 # Seafloor depth:-1736.201013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1731.917904 meters looking forward 100.000000 meters along route # Maximum depth: 1733.336705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.917904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695236; longitude = -122.062486; captureRadius = 10; duration = 84; initialDepth = 1678.002430; finalDepth = 1681.917904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.005361 # Actual altitude: 54.005361 # Commanded vehicle depth:1681.917904 # Seafloor depth:-1731.917904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum depth: 1732.152681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.002430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695070; longitude = -122.061590; captureRadius = 10; duration = 84; initialDepth = 1670.399301; finalDepth = 1678.002430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.730405 # Actual altitude: 53.730405 # Commanded vehicle depth:1678.00243 # Seafloor depth:-1731.732835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1720.399301 meters looking forward 100.000000 meters along route # Maximum depth: 1728.002430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.399301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694903; longitude = -122.060694; captureRadius = 10; duration = 84; initialDepth = 1663.033497; finalDepth = 1670.399301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1670.399301 # Seafloor depth:-1727.871126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 84.671703 meters # Minimum depth: 1713.033497 meters looking forward 100.000000 meters along route # Maximum depth: 1721.946610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.033497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694736; longitude = -122.059797; captureRadius = 10; duration = 84; initialDepth = 1652.100952; finalDepth = 1663.033497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4718250000001 # Actual altitude: 57.4718250000001 # Commanded vehicle depth:1663.033497 # Seafloor depth:-1719.220434 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 84.671703 meters # Minimum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum depth: 1712.134857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.100952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694577; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1640.701875; finalDepth = 1652.100952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.033905 # Actual altitude: 60.033905 # Commanded vehicle depth:1652.100952 # Seafloor depth:-1712.134857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1690.701875 meters looking forward 100.000000 meters along route # Maximum depth: 1702.100952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.701875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694562; longitude = -122.057445; captureRadius = 10; duration = 84; initialDepth = 1639.481819; finalDepth = 1640.701875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1640.701875 # Seafloor depth:-1700.801675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1689.481819 meters looking forward 100.000000 meters along route # Maximum depth: 1691.851293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.481819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694553; longitude = -122.056549; captureRadius = 10; duration = 84; initialDepth = 1641.197533; finalDepth = 1639.481819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0998 # Actual altitude: 60.0998 # Commanded vehicle depth:1639.481819 # Seafloor depth:-1690.173820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum depth: 1693.205500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.197533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694545; longitude = -122.055652; captureRadius = 10; duration = 84; initialDepth = 1636.810276; finalDepth = 1641.197533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2780419999999 # Actual altitude: 51.2780419999999 # Commanded vehicle depth:1641.197533 # Seafloor depth:-1692.475575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum depth: 1691.197533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.810276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694536; longitude = -122.054756; captureRadius = 10; duration = 84; initialDepth = 1629.243491; finalDepth = 1636.810276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.044443 # Actual altitude: 54.044443 # Commanded vehicle depth:1636.810276 # Seafloor depth:-1690.854719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum depth: 1686.810276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.243491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694527; longitude = -122.053860; captureRadius = 10; duration = 84; initialDepth = 1625.088952; finalDepth = 1629.243491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1629.243491 # Seafloor depth:-1686.122163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum depth: 1679.243491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.088952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694518; longitude = -122.052964; captureRadius = 10; duration = 84; initialDepth = 1623.270294; finalDepth = 1625.088952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8786720000001 # Actual altitude: 56.8786720000001 # Commanded vehicle depth:1625.088952 # Seafloor depth:-1678.343746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum depth: 1675.088952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.270294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694509; longitude = -122.052067; captureRadius = 10; duration = 84; initialDepth = 1618.948310; finalDepth = 1623.270294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2547939999999 # Actual altitude: 53.2547939999999 # Commanded vehicle depth:1623.270294 # Seafloor depth:-1674.646085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum depth: 1673.270294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.948310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694500; longitude = -122.051171; captureRadius = 10; duration = 84; initialDepth = 1613.774763; finalDepth = 1618.948310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.941221 # Actual altitude: 53.941221 # Commanded vehicle depth:1618.94831 # Seafloor depth:-1672.889531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1663.774763 meters looking forward 100.000000 meters along route # Maximum depth: 1668.948310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.774763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694491; longitude = -122.050275; captureRadius = 10; duration = 84; initialDepth = 1613.444239; finalDepth = 1613.774763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.774763 # Seafloor depth:-1668.591958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum depth: 1665.363639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.444239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694483; longitude = -122.049379; captureRadius = 10; duration = 84; initialDepth = 1605.500888; finalDepth = 1613.444239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8171950000001 # Actual altitude: 54.8171950000001 # Commanded vehicle depth:1613.444239 # Seafloor depth:-1663.704756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum depth: 1663.444239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.500888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694474; longitude = -122.048482; captureRadius = 10; duration = 84; initialDepth = 1600.686302; finalDepth = 1605.500888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1605.500888 # Seafloor depth:-1662.230231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1650.686302 meters looking forward 100.000000 meters along route # Maximum depth: 1655.500888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.686302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694465; longitude = -122.047586; captureRadius = 10; duration = 84; initialDepth = 1599.660929; finalDepth = 1600.686302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.729343 # Actual altitude: 56.729343 # Commanded vehicle depth:1600.686302 # Seafloor depth:-1654.674204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1649.660929 meters looking forward 100.000000 meters along route # Maximum depth: 1651.223170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.660929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694456; longitude = -122.046690; captureRadius = 10; duration = 84; initialDepth = 1597.505174; finalDepth = 1599.660929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9879019999998 # Actual altitude: 53.9879019999998 # Commanded vehicle depth:1599.660929 # Seafloor depth:-1650.033205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum depth: 1651.128043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.505174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694447; longitude = -122.045794; captureRadius = 10; duration = 84; initialDepth = 1592.938966; finalDepth = 1597.505174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5919800000001 # Actual altitude: 53.5919800000001 # Commanded vehicle depth:1597.505174 # Seafloor depth:-1651.097154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 84.671703 meters # Minimum depth: 1642.938966 meters looking forward 100.000000 meters along route # Maximum depth: 1647.505174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.938966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694438; longitude = -122.044898; captureRadius = 10; duration = 84; initialDepth = 1589.337735; finalDepth = 1592.938966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1592.938966 # Seafloor depth:-1646.725079 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 84.671703 meters # Minimum depth: 1639.337735 meters looking forward 100.000000 meters along route # Maximum depth: 1643.937904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.337735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.043955; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1576.923201; finalDepth = 1589.337735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7861130000001 # Actual altitude: 53.7861130000001 # Commanded vehicle depth:1589.337735 # Seafloor depth:-1642.532806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1640.745772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694586; longitude = -122.043217; captureRadius = 10; duration = 84; initialDepth = 1576.923201; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1639.326118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1626.923201 meters looking forward 100.000000 meters along route # Maximum depth: 1633.317839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.923201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.042369; captureRadius = 10; duration = 84; initialDepth = 1577.561449; finalDepth = 1576.923201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4029169999999 # Actual altitude: 62.4029169999999 # Commanded vehicle depth:1576.923201 # Seafloor depth:-1627.241703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1627.561449 meters looking forward 100.000000 meters along route # Maximum depth: 1632.506637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.561449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694946; longitude = -122.041520; captureRadius = 10; duration = 84; initialDepth = 1572.410929; finalDepth = 1577.561449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.613261 # Actual altitude: 53.613261 # Commanded vehicle depth:1577.561449 # Seafloor depth:-1631.174710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1622.410929 meters looking forward 100.000000 meters along route # Maximum depth: 1629.789645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.410929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695132; longitude = -122.040640; captureRadius = 10; duration = 84; initialDepth = 1568.401355; finalDepth = 1572.410929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1572.410929 # Seafloor depth:-1629.789645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1618.401355 meters looking forward 100.000000 meters along route # Maximum depth: 1623.807862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.401355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695306; longitude = -122.039820; captureRadius = 10; duration = 84; initialDepth = 1566.636062; finalDepth = 1568.401355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3787160000002 # Actual altitude: 57.3787160000002 # Commanded vehicle depth:1568.401355 # Seafloor depth:-1622.046213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1616.636062 meters looking forward 100.000000 meters along route # Maximum depth: 1618.733613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.636062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695488; longitude = -122.038960; captureRadius = 10; duration = 84; initialDepth = 1563.700332; finalDepth = 1566.636062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6448580000001 # Actual altitude: 53.6448580000001 # Commanded vehicle depth:1566.636062 # Seafloor depth:-1618.383863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1613.700332 meters looking forward 100.000000 meters along route # Maximum depth: 1617.479565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.700332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695666; longitude = -122.038121; captureRadius = 10; duration = 84; initialDepth = 1560.772083; finalDepth = 1563.700332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3053070000001 # Actual altitude: 52.3053070000001 # Commanded vehicle depth:1563.700332 # Seafloor depth:-1616.005639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1610.772083 meters looking forward 100.000000 meters along route # Maximum depth: 1615.654444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.772083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.037271; captureRadius = 10; duration = 84; initialDepth = 1553.817712; finalDepth = 1560.772083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.860471 # Actual altitude: 54.860471 # Commanded vehicle depth:1560.772083 # Seafloor depth:-1615.632554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1603.817712 meters looking forward 100.000000 meters along route # Maximum depth: 1611.569382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.817712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696035; longitude = -122.036383; captureRadius = 10; duration = 84; initialDepth = 1547.567990; finalDepth = 1553.817712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1553.817712 # Seafloor depth:-1610.337486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1597.567990 meters looking forward 100.000000 meters along route # Maximum depth: 1604.025337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.567990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696225; longitude = -122.035487; captureRadius = 10; duration = 84; initialDepth = 1541.500440; finalDepth = 1547.567990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5197739999999 # Actual altitude: 56.5197739999999 # Commanded vehicle depth:1547.56799 # Seafloor depth:-1603.081856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1591.500440 meters looking forward 100.000000 meters along route # Maximum depth: 1598.311409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.500440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696415; longitude = -122.034591; captureRadius = 10; duration = 84; initialDepth = 1538.593362; finalDepth = 1541.500440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1541.50044 # Seafloor depth:-1598.077761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1588.593362 meters looking forward 100.000000 meters along route # Maximum depth: 1592.406099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.593362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696605; longitude = -122.033695; captureRadius = 10; duration = 84; initialDepth = 1534.218406; finalDepth = 1538.593362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577321 # Actual altitude: 56.577321 # Commanded vehicle depth:1538.593362 # Seafloor depth:-1590.087022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum depth: 1589.349196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.218406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696795; longitude = -122.032798; captureRadius = 10; duration = 84; initialDepth = 1532.301728; finalDepth = 1534.218406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1534.218406 # Seafloor depth:-1589.021321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1582.301728 meters looking forward 100.000000 meters along route # Maximum depth: 1584.218406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.301728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696985; longitude = -122.031902; captureRadius = 10; duration = 84; initialDepth = 1532.577437; finalDepth = 1532.301728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.802915 # Actual altitude: 54.802915 # Commanded vehicle depth:1532.301728 # Seafloor depth:-1583.807256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1582.577437 meters looking forward 100.000000 meters along route # Maximum depth: 1583.523922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.577437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697176; longitude = -122.031006; captureRadius = 10; duration = 84; initialDepth = 1530.925899; finalDepth = 1532.577437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5055280000001 # Actual altitude: 51.5055280000001 # Commanded vehicle depth:1532.577437 # Seafloor depth:-1583.019670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 84.671703 meters # Minimum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum depth: 1583.462525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.925899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697366; longitude = -122.030110; captureRadius = 10; duration = 84; initialDepth = 1527.228962; finalDepth = 1530.925899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5096899999999 # Actual altitude: 52.5096899999999 # Commanded vehicle depth:1530.925899 # Seafloor depth:-1583.435589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 84.671703 meters # Minimum depth: 1577.228962 meters looking forward 100.000000 meters along route # Maximum depth: 1580.925899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.228962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697545; longitude = -122.029264; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1513.893893; finalDepth = 1527.228962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.014629 # Actual altitude: 53.014629 # Commanded vehicle depth:1527.228962 # Seafloor depth:-1580.243591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1563.893893 meters looking forward 100.000000 meters along route # Maximum depth: 1579.361314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.893893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697919; longitude = -122.028409; captureRadius = 10; duration = 84; initialDepth = 1512.426908; finalDepth = 1513.893893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1513.893893 # Seafloor depth:-1576.750794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1562.426908 meters looking forward 100.000000 meters along route # Maximum depth: 1564.256409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.426908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698253; longitude = -122.027645; captureRadius = 10; duration = 84; initialDepth = 1512.930823; finalDepth = 1512.426908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8569010000001 # Actual altitude: 62.8569010000001 # Commanded vehicle depth:1512.426908 # Seafloor depth:-1564.256409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1562.930823 meters looking forward 100.000000 meters along route # Maximum depth: 1564.908812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.930823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698597; longitude = -122.026861; captureRadius = 10; duration = 84; initialDepth = 1504.335634; finalDepth = 1512.930823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8295010000002 # Actual altitude: 51.8295010000002 # Commanded vehicle depth:1512.930823 # Seafloor depth:-1563.444294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1554.335634 meters looking forward 100.000000 meters along route # Maximum depth: 1564.502643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.335634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698940; longitude = -122.026077; captureRadius = 10; duration = 84; initialDepth = 1498.366958; finalDepth = 1504.335634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1504.335634 # Seafloor depth:-1563.484116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1548.366958 meters looking forward 100.000000 meters along route # Maximum depth: 1554.804980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.366958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699283; longitude = -122.025292; captureRadius = 10; duration = 84; initialDepth = 1494.638785; finalDepth = 1498.366958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1484820000001 # Actual altitude: 59.1484820000001 # Commanded vehicle depth:1498.366958 # Seafloor depth:-1554.134646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1544.638785 meters looking forward 100.000000 meters along route # Maximum depth: 1548.937605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.638785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.024496; captureRadius = 10; duration = 84; initialDepth = 1489.317351; finalDepth = 1494.638785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7676879999999 # Actual altitude: 55.7676879999999 # Commanded vehicle depth:1494.638785 # Seafloor depth:-1548.283804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1539.317351 meters looking forward 100.000000 meters along route # Maximum depth: 1545.083870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.317351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699969; longitude = -122.023724; captureRadius = 10; duration = 84; initialDepth = 1486.024107; finalDepth = 1489.317351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1489.317351 # Seafloor depth:-1543.481487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 84.671703 meters # Minimum depth: 1536.024107 meters looking forward 100.000000 meters along route # Maximum depth: 1539.601933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.024107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700312; longitude = -122.022940; captureRadius = 10; duration = 84; initialDepth = 1484.803871; finalDepth = 1486.024107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1641360000001 # Actual altitude: 54.1641360000001 # Commanded vehicle depth:1486.024107 # Seafloor depth:-1539.253463 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 84.671703 meters # Minimum depth: 1534.803871 meters looking forward 100.000000 meters along route # Maximum depth: 1536.685425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.803871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700662; longitude = -122.022141; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1482.164122; finalDepth = 1484.803871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2293560000001 # Actual altitude: 53.2293560000001 # Commanded vehicle depth:1484.803871 # Seafloor depth:-1536.685425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.671703 meters # Minimum depth: 1532.164122 meters looking forward 100.000000 meters along route # Maximum depth: 1535.333501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.164122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.021549; captureRadius = 10; duration = 84; initialDepth = 1476.945179; finalDepth = 1482.164122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1693790000002 # Actual altitude: 53.1693790000002 # Commanded vehicle depth:1482.164122 # Seafloor depth:-1535.333501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.671703 meters # Minimum depth: 1526.945179 meters looking forward 100.000000 meters along route # Maximum depth: 1532.429114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.945179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.021009; captureRadius = 10; duration = 84; initialDepth = 1472.801345; finalDepth = 1476.945179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1476.945179 # Seafloor depth:-1532.111517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.671703 meters # Minimum depth: 1522.801345 meters looking forward 100.000000 meters along route # Maximum depth: 1527.715634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.801345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.020468; captureRadius = 10; duration = 84; initialDepth = 1470.339717; finalDepth = 1472.801345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.166338 # Actual altitude: 55.166338 # Commanded vehicle depth:1472.801345 # Seafloor depth:-1526.848378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 84.671703 meters # Minimum depth: 1520.339717 meters looking forward 100.000000 meters along route # Maximum depth: 1524.291636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.339717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702888; longitude = -122.019915; captureRadius = 10; duration = 84; initialDepth = 1466.586587; finalDepth = 1470.339717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0470329999998 # Actual altitude: 54.0470329999998 # Commanded vehicle depth:1470.339717 # Seafloor depth:-1522.654847 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 84.671703 meters # Minimum depth: 1516.586587 meters looking forward 100.000000 meters along route # Maximum depth: 1522.616364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.586587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703481; longitude = -122.019322; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1463.816298; finalDepth = 1466.586587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1466.586587 # Seafloor depth:-1522.616364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.671703 meters # Minimum depth: 1513.816298 meters looking forward 100.000000 meters along route # Maximum depth: 1516.754370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.816298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704062; longitude = -122.018907; captureRadius = 10; duration = 84; initialDepth = 1462.119811; finalDepth = 1463.816298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.029777 # Actual altitude: 56.029777 # Commanded vehicle depth:1463.816298 # Seafloor depth:-1516.563812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.671703 meters # Minimum depth: 1512.119811 meters looking forward 100.000000 meters along route # Maximum depth: 1514.749296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.119811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704690; longitude = -122.018459; captureRadius = 10; duration = 84; initialDepth = 1456.377581; finalDepth = 1462.119811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7475140000001 # Actual altitude: 52.7475140000001 # Commanded vehicle depth:1462.119811 # Seafloor depth:-1513.601260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.671703 meters # Minimum depth: 1506.377581 meters looking forward 100.000000 meters along route # Maximum depth: 1513.575651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.377581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705317; longitude = -122.018011; captureRadius = 10; duration = 84; initialDepth = 1452.250954; finalDepth = 1456.377581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1456.377581 # Seafloor depth:-1513.090588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 84.671703 meters # Minimum depth: 1502.250954 meters looking forward 100.000000 meters along route # Maximum depth: 1507.624443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.250954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705944; longitude = -122.017562; captureRadius = 10; duration = 84; initialDepth = 1448.208047; finalDepth = 1452.250954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7130070000001 # Actual altitude: 56.7130070000001 # Commanded vehicle depth:1452.250954 # Seafloor depth:-1506.340402 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 84.671703 meters # Minimum depth: 1498.208047 meters looking forward 100.000000 meters along route # Maximum depth: 1505.965009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.208047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.017096; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1435.822426; finalDepth = 1448.208047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0894479999999 # Actual altitude: 54.0894479999999 # Commanded vehicle depth:1448.208047 # Seafloor depth:-1501.083679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1485.822426 meters looking forward 100.000000 meters along route # Maximum depth: 1498.650743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.822426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707111; longitude = -122.016848; captureRadius = 10; duration = 84; initialDepth = 1427.745713; finalDepth = 1435.822426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8331500000002 # Actual altitude: 61.8331500000002 # Commanded vehicle depth:1435.822426 # Seafloor depth:-1497.655576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1477.745713 meters looking forward 100.000000 meters along route # Maximum depth: 1490.022294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.745713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707742; longitude = -122.016543; captureRadius = 10; duration = 84; initialDepth = 1410.251084; finalDepth = 1427.745713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8331500000002 # Actual altitude: 61.8331500000002 # Commanded vehicle depth:1427.745713 # Seafloor depth:-1485.327856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1460.251084 meters looking forward 100.000000 meters along route # Maximum depth: 1480.669306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.251084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708373; longitude = -122.016239; captureRadius = 10; duration = 84; initialDepth = 1409.246968; finalDepth = 1410.251084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3922379999999 # Actual altitude: 64.3922379999999 # Commanded vehicle depth:1410.251084 # Seafloor depth:-1474.643322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 257.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1459.246968 meters looking forward 100.000000 meters along route # Maximum depth: 1464.618031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.246968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709003; longitude = -122.015934; captureRadius = 10; duration = 84; initialDepth = 1410.085387; finalDepth = 1409.246968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3922379999999 # Actual altitude: 64.3922379999999 # Commanded vehicle depth:1409.246968 # Seafloor depth:-1459.246968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 257.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1460.085387 meters looking forward 100.000000 meters along route # Maximum depth: 1464.618031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.085387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709634; longitude = -122.015630; captureRadius = 10; duration = 84; initialDepth = 1406.058794; finalDepth = 1410.085387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.389764 # Actual altitude: 54.389764 # Commanded vehicle depth:1410.085387 # Seafloor depth:-1464.475151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 84.671703 meters # Minimum depth: 1456.058794 meters looking forward 100.000000 meters along route # Maximum depth: 1461.371963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.058794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710265; longitude = -122.015325; captureRadius = 10; duration = 84; initialDepth = 1405.666373; finalDepth = 1406.058794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.389764 # Actual altitude: 54.389764 # Commanded vehicle depth:1406.058794 # Seafloor depth:-1459.472420 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 84.671703 meters # Minimum depth: 1455.666373 meters looking forward 100.000000 meters along route # Maximum depth: 1472.918072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.666373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710901; longitude = -122.015018; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1416.496970; finalDepth = 1405.666373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.413626 # Actual altitude: 53.413626 # Commanded vehicle depth:1405.666373 # Seafloor depth:-1458.190247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.671703 meters # Minimum depth: 1466.496970 meters looking forward 100.000000 meters along route # Maximum depth: 1472.184265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.496970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711822; longitude = -122.014650; captureRadius = 10; duration = 84; initialDepth = 1412.035986; finalDepth = 1416.496970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0931840000001 # Actual altitude: 54.0931840000001 # Commanded vehicle depth:1416.49697 # Seafloor depth:-1470.590154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.671703 meters # Minimum depth: 1462.035986 meters looking forward 100.000000 meters along route # Maximum depth: 1466.917595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.035986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.014371; captureRadius = 10; duration = 84; initialDepth = 1404.849555; finalDepth = 1412.035986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3481509999999 # Actual altitude: 54.3481509999999 # Commanded vehicle depth:1412.035986 # Seafloor depth:-1466.384137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.671703 meters # Minimum depth: 1454.849555 meters looking forward 100.000000 meters along route # Maximum depth: 1462.728121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.849555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.014083; captureRadius = 10; duration = 84; initialDepth = 1401.493215; finalDepth = 1404.849555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9879980000001 # Actual altitude: 56.9879980000001 # Commanded vehicle depth:1404.849555 # Seafloor depth:-1461.837553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 84.671703 meters # Minimum depth: 1451.493215 meters looking forward 100.000000 meters along route # Maximum depth: 1455.507958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.493215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.013794; captureRadius = 10; duration = 84; initialDepth = 1398.647604; finalDepth = 1401.493215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9879980000001 # Actual altitude: 56.9879980000001 # Commanded vehicle depth:1401.493215 # Seafloor depth:-1454.188697 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 84.671703 meters # Minimum depth: 1448.647604 meters looking forward 100.000000 meters along route # Maximum depth: 1453.884768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.647604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714610; longitude = -122.013534; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1394.480212; finalDepth = 1398.647604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6954820000001 # Actual altitude: 52.6954820000001 # Commanded vehicle depth:1398.647604 # Seafloor depth:-1451.340485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.671703 meters # Minimum depth: 1444.480212 meters looking forward 100.000000 meters along route # Maximum depth: 1448.647604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.480212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.013321; captureRadius = 10; duration = 84; initialDepth = 1389.533135; finalDepth = 1394.480212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.771082 # Actual altitude: 53.771082 # Commanded vehicle depth:1394.480212 # Seafloor depth:-1448.251294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.671703 meters # Minimum depth: 1439.533135 meters looking forward 100.000000 meters along route # Maximum depth: 1445.125683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.533135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715912; longitude = -122.013081; captureRadius = 10; duration = 84; initialDepth = 1386.293164; finalDepth = 1389.533135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340400000001 # Actual altitude: 54.4340400000001 # Commanded vehicle depth:1389.533135 # Seafloor depth:-1443.967175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.671703 meters # Minimum depth: 1436.293164 meters looking forward 100.000000 meters along route # Maximum depth: 1439.957160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.293164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716573; longitude = -122.012851; captureRadius = 10; duration = 84; initialDepth = 1379.190538; finalDepth = 1386.293164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4340400000001 # Actual altitude: 54.4340400000001 # Commanded vehicle depth:1386.293164 # Seafloor depth:-1439.431231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 84.671703 meters # Minimum depth: 1429.190538 meters looking forward 100.000000 meters along route # Maximum depth: 1436.309533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.190538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717294; longitude = -122.012601; captureRadius = 10; duration = 84; initialDepth = 1372.397701; finalDepth = 1379.190538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7677229999999 # Actual altitude: 56.7677229999999 # Commanded vehicle depth:1379.190538 # Seafloor depth:-1435.958261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 84.671703 meters # Minimum depth: 1422.397701 meters looking forward 100.000000 meters along route # Maximum depth: 1429.135040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.397701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718023; longitude = -122.012347; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1364.674621; finalDepth = 1372.397701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7677229999999 # Actual altitude: 56.7677229999999 # Commanded vehicle depth:1372.397701 # Seafloor depth:-1429.135040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.671703 meters # Minimum depth: 1414.674621 meters looking forward 100.000000 meters along route # Maximum depth: 1423.924566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.674621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719096; longitude = -122.012041; captureRadius = 10; duration = 84; initialDepth = 1363.220577; finalDepth = 1364.674621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7373389999998 # Actual altitude: 56.7373389999998 # Commanded vehicle depth:1364.674621 # Seafloor depth:-1421.319977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.671703 meters # Minimum depth: 1413.220577 meters looking forward 100.000000 meters along route # Maximum depth: 1416.635573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.220577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719767; longitude = -122.011849; captureRadius = 10; duration = 84; initialDepth = 1359.192568; finalDepth = 1363.220577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6453560000002 # Actual altitude: 56.6453560000002 # Commanded vehicle depth:1363.220577 # Seafloor depth:-1414.098494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 84.671703 meters # Minimum depth: 1409.192568 meters looking forward 100.000000 meters along route # Maximum depth: 1416.635573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.192568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720448; longitude = -122.011655; captureRadius = 10; duration = 84; initialDepth = 1358.522867; finalDepth = 1359.192568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.398021 # Actual altitude: 56.398021 # Commanded vehicle depth:1359.192568 # Seafloor depth:-1415.590589 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.59; 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 68 # Segment length 84.671703 meters # Minimum depth: 1408.522867 meters looking forward 100.000000 meters along route # Maximum depth: 1410.226308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.522867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721140; longitude = -122.011457; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1358.631077; finalDepth = 1358.522867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.398021 # Actual altitude: 56.398021 # Commanded vehicle depth:1358.522867 # Seafloor depth:-1408.625702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 84.671703 meters # Minimum depth: 1408.631077 meters looking forward 100.000000 meters along route # Maximum depth: 1418.133968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.631077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721224; longitude = -122.012633; captureRadius = 10; duration = 84; initialDepth = 1365.642537; finalDepth = 1358.631077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50.5155159999999 # Actual altitude: 50.5155159999999 # Commanded vehicle depth:1358.631077 # Seafloor depth:-1409.146593 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 84.671703 meters # Minimum depth: 1415.642537 meters looking forward 100.000000 meters along route # Maximum depth: 1426.986449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.642537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721288; longitude = -122.013534; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1376.966450; finalDepth = 1365.642537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1278180000002 # Actual altitude: 53.1278180000002 # Commanded vehicle depth:1365.642537 # Seafloor depth:-1418.770355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1426.966450 meters looking forward 100.000000 meters along route # Maximum depth: 1428.466664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.966450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720538; longitude = -122.013708; captureRadius = 10; duration = 84; initialDepth = 1376.977280; finalDepth = 1376.966450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1278180000002 # Actual altitude: 53.1278180000002 # Commanded vehicle depth:1376.96645 # Seafloor depth:-1427.763108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1426.977280 meters looking forward 100.000000 meters along route # Maximum depth: 1436.306950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.977280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719817; longitude = -122.013876; captureRadius = 10; duration = 84; initialDepth = 1386.306950; finalDepth = 1376.977280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7966580000002 # Actual altitude: 50.7966580000002 # Commanded vehicle depth:1376.97728 # Seafloor depth:-1427.073853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1436.306950 meters looking forward 100.000000 meters along route # Maximum depth: 1440.874960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.306950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719096; longitude = -122.014044; captureRadius = 10; duration = 84; initialDepth = 1389.078875; finalDepth = 1386.306950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2719980000002 # Actual altitude: 50.2719980000002 # Commanded vehicle depth:1386.30695 # Seafloor depth:-1436.578948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1439.078875 meters looking forward 100.000000 meters along route # Maximum depth: 1441.045792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.078875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718375; longitude = -122.014211; captureRadius = 10; duration = 84; initialDepth = 1387.571824; finalDepth = 1389.078875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966917 # Actual altitude: 51.966917 # Commanded vehicle depth:1389.078875 # Seafloor depth:-1441.045792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1437.571824 meters looking forward 100.000000 meters along route # Maximum depth: 1439.634438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.571824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717655; longitude = -122.014379; captureRadius = 10; duration = 84; initialDepth = 1387.571824; finalDepth = 1387.571824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966917 # Actual altitude: 51.966917 # Commanded vehicle depth:1387.571824 # Seafloor depth:-1439.280481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1437.571824 meters looking forward 100.000000 meters along route # Maximum depth: 1440.326008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.571824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716973; longitude = -122.014538; captureRadius = 10; duration = 84; initialDepth = 1389.387920; finalDepth = 1387.571824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7086569999999 # Actual altitude: 51.7086569999999 # Commanded vehicle depth:1387.571824 # Seafloor depth:-1437.765434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1439.387920 meters looking forward 100.000000 meters along route # Maximum depth: 1444.844673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.387920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716303; longitude = -122.014693; captureRadius = 10; duration = 84; initialDepth = 1393.803556; finalDepth = 1389.387920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1936099999998 # Actual altitude: 50.1936099999998 # Commanded vehicle depth:1389.38792 # Seafloor depth:-1439.387920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 84.671703 meters # Minimum depth: 1443.803556 meters looking forward 100.000000 meters along route # Maximum depth: 1449.447782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.803556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.014861; captureRadius = 10; duration = 84; initialDepth = 1399.271851; finalDepth = 1393.803556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1393.803556 # Seafloor depth:-1443.803556 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 84.671703 meters # Minimum depth: 1449.271851 meters looking forward 100.000000 meters along route # Maximum depth: 1452.978793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.271851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714907; longitude = -122.015018; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1402.027640; finalDepth = 1399.271851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1399.271851 # Seafloor depth:-1449.271851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.671703 meters # Minimum depth: 1452.027640 meters looking forward 100.000000 meters along route # Maximum depth: 1462.706431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.027640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713937; longitude = -122.015434; captureRadius = 10; duration = 84; initialDepth = 1412.706431; finalDepth = 1402.027640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.251565 # Actual altitude: 51.251565 # Commanded vehicle depth:1402.02764 # Seafloor depth:-1453.279205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.671703 meters # Minimum depth: 1462.706431 meters looking forward 100.000000 meters along route # Maximum depth: 1466.247475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.706431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.015733; captureRadius = 10; duration = 84; initialDepth = 1410.252689; finalDepth = 1412.706431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5101529999999 # Actual altitude: 51.5101529999999 # Commanded vehicle depth:1412.706431 # Seafloor depth:-1464.216584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 84.671703 meters # Minimum depth: 1460.252689 meters looking forward 100.000000 meters along route # Maximum depth: 1468.491238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.252689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.016042; captureRadius = 10; duration = 84; initialDepth = 1405.559261; finalDepth = 1410.252689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3822030000001 # Actual altitude: 56.3822030000001 # Commanded vehicle depth:1410.252689 # Seafloor depth:-1466.634892 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 84.671703 meters # Minimum depth: 1455.559261 meters looking forward 100.000000 meters along route # Maximum depth: 1463.253913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.559261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711791; longitude = -122.016354; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1405.556359; finalDepth = 1405.559261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3822030000001 # Actual altitude: 56.3822030000001 # Commanded vehicle depth:1405.559261 # Seafloor depth:-1461.808594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1455.556359 meters looking forward 100.000000 meters along route # Maximum depth: 1463.752615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.556359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711166; longitude = -122.016666; captureRadius = 10; duration = 84; initialDepth = 1413.696282; finalDepth = 1405.556359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.249333 # Actual altitude: 56.249333 # Commanded vehicle depth:1405.556359 # Seafloor depth:-1455.556359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 225.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1463.696282 meters looking forward 100.000000 meters along route # Maximum depth: 1475.130199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.696282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710535; longitude = -122.016982; captureRadius = 10; duration = 84; initialDepth = 1424.825683; finalDepth = 1413.696282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.567137 # Actual altitude: 50.567137 # Commanded vehicle depth:1413.696282 # Seafloor depth:-1464.263419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1474.825683 meters looking forward 100.000000 meters along route # Maximum depth: 1478.571771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.825683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.017297; captureRadius = 10; duration = 84; initialDepth = 1427.435458; finalDepth = 1424.825683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.567137 # Actual altitude: 50.567137 # Commanded vehicle depth:1424.825683 # Seafloor depth:-1475.034532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1477.435458 meters looking forward 100.000000 meters along route # Maximum depth: 1481.947467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.435458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709274; longitude = -122.017613; captureRadius = 10; duration = 84; initialDepth = 1429.799811; finalDepth = 1427.435458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.47623 # Actual altitude: 52.47623 # Commanded vehicle depth:1427.435458 # Seafloor depth:-1479.911688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1479.799811 meters looking forward 100.000000 meters along route # Maximum depth: 1484.274070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.799811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708643; longitude = -122.017928; captureRadius = 10; duration = 84; initialDepth = 1432.998493; finalDepth = 1429.799811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.47623 # Actual altitude: 52.47623 # Commanded vehicle depth:1429.799811 # Seafloor depth:-1480.840691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 84.671703 meters # Minimum depth: 1482.998493 meters looking forward 100.000000 meters along route # Maximum depth: 1495.225587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.998493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708012; longitude = -122.018243; captureRadius = 10; duration = 84; initialDepth = 1443.022282; finalDepth = 1432.998493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5286469999999 # Actual altitude: 51.5286469999999 # Commanded vehicle depth:1432.998493 # Seafloor depth:-1484.527140 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 84.671703 meters # Minimum depth: 1493.022282 meters looking forward 100.000000 meters along route # Maximum depth: 1497.149338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.022282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707339; longitude = -122.018580; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1444.225120; finalDepth = 1443.022282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5286469999999 # Actual altitude: 51.5286469999999 # Commanded vehicle depth:1443.022282 # Seafloor depth:-1494.352051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.671703 meters # Minimum depth: 1494.225120 meters looking forward 100.000000 meters along route # Maximum depth: 1505.639896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.225120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.019151; captureRadius = 10; duration = 84; initialDepth = 1453.694709; finalDepth = 1444.225120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.829514 # Actual altitude: 53.829514 # Commanded vehicle depth:1444.22512 # Seafloor depth:-1498.054634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.671703 meters # Minimum depth: 1503.694709 meters looking forward 100.000000 meters along route # Maximum depth: 1509.123081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.694709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.019498; captureRadius = 10; duration = 84; initialDepth = 1455.952160; finalDepth = 1453.694709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.829514 # Actual altitude: 53.829514 # Commanded vehicle depth:1453.694709 # Seafloor depth:-1506.246191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 84.671703 meters # Minimum depth: 1505.952160 meters looking forward 100.000000 meters along route # Maximum depth: 1509.123081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.952160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.019845; captureRadius = 10; duration = 84; initialDepth = 1455.618635; finalDepth = 1455.952160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8019489999999 # Actual altitude: 52.8019489999999 # Commanded vehicle depth:1455.95216 # Seafloor depth:-1508.754109 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 84.671703 meters # Minimum depth: 1505.618635 meters looking forward 100.000000 meters along route # Maximum depth: 1508.339620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.618635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704371; longitude = -122.020212; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1457.676059; finalDepth = 1455.618635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8019489999999 # Actual altitude: 52.8019489999999 # Commanded vehicle depth:1455.618635 # Seafloor depth:-1508.058746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.671703 meters # Minimum depth: 1507.676059 meters looking forward 100.000000 meters along route # Maximum depth: 1509.842658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.676059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.020636; captureRadius = 10; duration = 84; initialDepth = 1459.481763; finalDepth = 1457.676059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4401109999999 # Actual altitude: 52.4401109999999 # Commanded vehicle depth:1457.676059 # Seafloor depth:-1509.096198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.671703 meters # Minimum depth: 1509.481763 meters looking forward 100.000000 meters along route # Maximum depth: 1514.858602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.481763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.021087; captureRadius = 10; duration = 84; initialDepth = 1464.646805; finalDepth = 1459.481763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.560829 # Actual altitude: 51.560829 # Commanded vehicle depth:1459.481763 # Seafloor depth:-1511.042592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.671703 meters # Minimum depth: 1514.646805 meters looking forward 100.000000 meters along route # Maximum depth: 1517.456786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.646805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.021538; captureRadius = 10; duration = 84; initialDepth = 1467.390697; finalDepth = 1464.646805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.560829 # Actual altitude: 51.560829 # Commanded vehicle depth:1464.646805 # Seafloor depth:-1515.719882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 84.671703 meters # Minimum depth: 1517.390697 meters looking forward 100.000000 meters along route # Maximum depth: 1531.213561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.390697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701884; longitude = -122.021988; captureRadius = 10; duration = 84; initialDepth = 1481.181183; finalDepth = 1467.390697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.073077 # Actual altitude: 51.073077 # Commanded vehicle depth:1467.390697 # Seafloor depth:-1518.404979 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 84.671703 meters # Minimum depth: 1531.181183 meters looking forward 100.000000 meters along route # Maximum depth: 1533.468947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.181183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701255; longitude = -122.022438; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1481.979434; finalDepth = 1481.181183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0142819999999 # Actual altitude: 51.0142819999999 # Commanded vehicle depth:1481.181183 # Seafloor depth:-1531.181183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1531.979434 meters looking forward 100.000000 meters along route # Maximum depth: 1536.328036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.979434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700801; longitude = -122.023724; captureRadius = 10; duration = 84; initialDepth = 1485.479485; finalDepth = 1481.979434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5426739999998 # Actual altitude: 51.5426739999998 # Commanded vehicle depth:1481.979434 # Seafloor depth:-1533.522108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1535.479485 meters looking forward 100.000000 meters along route # Maximum depth: 1544.060245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.479485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700524; longitude = -122.024508; captureRadius = 10; duration = 84; initialDepth = 1493.451965; finalDepth = 1485.479485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5426739999998 # Actual altitude: 51.5426739999998 # Commanded vehicle depth:1485.479485 # Seafloor depth:-1535.501716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1543.451965 meters looking forward 100.000000 meters along route # Maximum depth: 1551.590103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.451965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700248; longitude = -122.025292; captureRadius = 10; duration = 84; initialDepth = 1501.406877; finalDepth = 1493.451965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9178529999999 # Actual altitude: 50.9178529999999 # Commanded vehicle depth:1493.451965 # Seafloor depth:-1544.369818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1551.406877 meters looking forward 100.000000 meters along route # Maximum depth: 1555.517158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.406877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699971; longitude = -122.026077; captureRadius = 10; duration = 84; initialDepth = 1504.834986; finalDepth = 1501.406877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9178529999999 # Actual altitude: 50.9178529999999 # Commanded vehicle depth:1501.406877 # Seafloor depth:-1551.842680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1554.834986 meters looking forward 100.000000 meters along route # Maximum depth: 1565.586776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.834986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699694; longitude = -122.026861; captureRadius = 10; duration = 84; initialDepth = 1514.336738; finalDepth = 1504.834986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2747789999999 # Actual altitude: 51.2747789999999 # Commanded vehicle depth:1504.834986 # Seafloor depth:-1556.109765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1564.336738 meters looking forward 100.000000 meters along route # Maximum depth: 1571.640488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.336738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699417; longitude = -122.027645; captureRadius = 10; duration = 84; initialDepth = 1520.922241; finalDepth = 1514.336738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9773640000001 # Actual altitude: 51.9773640000001 # Commanded vehicle depth:1514.336738 # Seafloor depth:-1566.314102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1570.922241 meters looking forward 100.000000 meters along route # Maximum depth: 1572.089813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.922241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699140; longitude = -122.028429; captureRadius = 10; duration = 84; initialDepth = 1521.569774; finalDepth = 1520.922241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9773640000001 # Actual altitude: 51.9773640000001 # Commanded vehicle depth:1520.922241 # Seafloor depth:-1571.669220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 84.671703 meters # Minimum depth: 1571.569774 meters looking forward 100.000000 meters along route # Maximum depth: 1577.474384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.569774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698864; longitude = -122.029213; captureRadius = 10; duration = 84; initialDepth = 1527.474384; finalDepth = 1521.569774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.746979 # Actual altitude: 50.746979 # Commanded vehicle depth:1521.569774 # Seafloor depth:-1571.569774 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 84.671703 meters # Minimum depth: 1577.474384 meters looking forward 100.000000 meters along route # Maximum depth: 1580.551687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.474384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.030006; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1529.319163; finalDepth = 1527.474384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2255369999998 # Actual altitude: 50.2255369999998 # Commanded vehicle depth:1527.474384 # Seafloor depth:-1577.699921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1579.319163 meters looking forward 100.000000 meters along route # Maximum depth: 1580.199017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.319163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.030985; captureRadius = 10; duration = 84; initialDepth = 1529.319163; finalDepth = 1529.319163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6876140000002 # Actual altitude: 50.6876140000002 # Commanded vehicle depth:1529.319163 # Seafloor depth:-1580.006777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1579.319163 meters looking forward 100.000000 meters along route # Maximum depth: 1582.490569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.319163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.031809; captureRadius = 10; duration = 84; initialDepth = 1532.057434; finalDepth = 1529.319163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693156 # Actual altitude: 50.693156 # Commanded vehicle depth:1529.319163 # Seafloor depth:-1580.012319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1582.057434 meters looking forward 100.000000 meters along route # Maximum depth: 1585.990287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.057434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.032633; captureRadius = 10; duration = 84; initialDepth = 1535.806000; finalDepth = 1532.057434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693156 # Actual altitude: 50.693156 # Commanded vehicle depth:1532.057434 # Seafloor depth:-1582.682407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1585.806000 meters looking forward 100.000000 meters along route # Maximum depth: 1590.409623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.806000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.033457; captureRadius = 10; duration = 84; initialDepth = 1538.975234; finalDepth = 1535.806000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.624973 # Actual altitude: 50.624973 # Commanded vehicle depth:1535.806 # Seafloor depth:-1585.959111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1588.975234 meters looking forward 100.000000 meters along route # Maximum depth: 1592.461048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.975234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.034281; captureRadius = 10; duration = 84; initialDepth = 1541.777852; finalDepth = 1538.975234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4220270000001 # Actual altitude: 51.4220270000001 # Commanded vehicle depth:1538.975234 # Seafloor depth:-1590.397261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1591.777852 meters looking forward 100.000000 meters along route # Maximum depth: 1598.994063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.777852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.035105; captureRadius = 10; duration = 84; initialDepth = 1546.626182; finalDepth = 1541.777852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4220270000001 # Actual altitude: 51.4220270000001 # Commanded vehicle depth:1541.777852 # Seafloor depth:-1592.890648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1596.626182 meters looking forward 100.000000 meters along route # Maximum depth: 1603.249674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.626182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697287; longitude = -122.035935; captureRadius = 10; duration = 84; initialDepth = 1552.068909; finalDepth = 1546.626182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.463561 # Actual altitude: 52.463561 # Commanded vehicle depth:1546.626182 # Seafloor depth:-1599.089743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1602.068909 meters looking forward 100.000000 meters along route # Maximum depth: 1607.115705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.068909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.036753; captureRadius = 10; duration = 84; initialDepth = 1556.175826; finalDepth = 1552.068909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.463561 # Actual altitude: 52.463561 # Commanded vehicle depth:1552.068909 # Seafloor depth:-1602.128014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1606.175826 meters looking forward 100.000000 meters along route # Maximum depth: 1609.225284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.175826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.037577; captureRadius = 10; duration = 84; initialDepth = 1558.081563; finalDepth = 1556.175826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9990660000001 # Actual altitude: 50.9990660000001 # Commanded vehicle depth:1556.175826 # Seafloor depth:-1607.174892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1608.081563 meters looking forward 100.000000 meters along route # Maximum depth: 1614.987530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.081563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.038401; captureRadius = 10; duration = 84; initialDepth = 1563.749791; finalDepth = 1558.081563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1460549999999 # Actual altitude: 51.1460549999999 # Commanded vehicle depth:1558.081563 # Seafloor depth:-1609.227618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1613.749791 meters looking forward 100.000000 meters along route # Maximum depth: 1616.118718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.749791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.039225; captureRadius = 10; duration = 84; initialDepth = 1564.940967; finalDepth = 1563.749791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5720370000001 # Actual altitude: 51.5720370000001 # Commanded vehicle depth:1563.749791 # Seafloor depth:-1615.321828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1614.940967 meters looking forward 100.000000 meters along route # Maximum depth: 1624.463530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.940967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696387; longitude = -122.040049; captureRadius = 10; duration = 84; initialDepth = 1572.539855; finalDepth = 1564.940967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5720370000001 # Actual altitude: 51.5720370000001 # Commanded vehicle depth:1564.940967 # Seafloor depth:-1616.174961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1622.539855 meters looking forward 100.000000 meters along route # Maximum depth: 1627.369453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.539855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.040873; captureRadius = 10; duration = 84; initialDepth = 1576.032738; finalDepth = 1572.539855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9568280000001 # Actual altitude: 51.9568280000001 # Commanded vehicle depth:1572.539855 # Seafloor depth:-1624.496683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1626.032738 meters looking forward 100.000000 meters along route # Maximum depth: 1630.080270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.032738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.041697; captureRadius = 10; duration = 84; initialDepth = 1579.451955; finalDepth = 1576.032738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9568280000001 # Actual altitude: 51.9568280000001 # Commanded vehicle depth:1576.032738 # Seafloor depth:-1627.886270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1629.451955 meters looking forward 100.000000 meters along route # Maximum depth: 1636.749561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.451955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695841; longitude = -122.042545; captureRadius = 10; duration = 84; initialDepth = 1585.134905; finalDepth = 1579.451955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8535319999999 # Actual altitude: 51.8535319999999 # Commanded vehicle depth:1579.451955 # Seafloor depth:-1630.257996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 84.671703 meters # Minimum depth: 1635.134905 meters looking forward 100.000000 meters along route # Maximum depth: 1640.564177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.134905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695645; longitude = -122.043441; captureRadius = 10; duration = 84; initialDepth = 1589.366154; finalDepth = 1585.134905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0329320000001 # Actual altitude: 53.0329320000001 # Commanded vehicle depth:1585.134905 # Seafloor depth:-1638.167837 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 84.671703 meters # Minimum depth: 1639.366154 meters looking forward 100.000000 meters along route # Maximum depth: 1640.998206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.366154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695468; longitude = -122.044252; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1588.162152; finalDepth = 1589.366154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0329320000001 # Actual altitude: 53.0329320000001 # Commanded vehicle depth:1589.366154 # Seafloor depth:-1640.784546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1638.162152 meters looking forward 100.000000 meters along route # Maximum depth: 1639.366154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.162152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695552; longitude = -122.045010; captureRadius = 10; duration = 84; initialDepth = 1583.962469; finalDepth = 1588.162152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.418392 # Actual altitude: 51.418392 # Commanded vehicle depth:1588.162152 # Seafloor depth:-1638.841522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1633.962469 meters looking forward 100.000000 meters along route # Maximum depth: 1638.650885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.962469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695652; longitude = -122.045906; captureRadius = 10; duration = 84; initialDepth = 1586.028066; finalDepth = 1583.962469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.91984 # Actual altitude: 53.91984 # Commanded vehicle depth:1583.962469 # Seafloor depth:-1637.882309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1636.028066 meters looking forward 100.000000 meters along route # Maximum depth: 1644.106576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.028066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695757; longitude = -122.046849; captureRadius = 10; duration = 84; initialDepth = 1593.887553; finalDepth = 1586.028066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.91984 # Actual altitude: 53.91984 # Commanded vehicle depth:1586.028066 # Seafloor depth:-1638.028947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1643.887553 meters looking forward 100.000000 meters along route # Maximum depth: 1649.576638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.887553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695851; longitude = -122.047698; captureRadius = 10; duration = 84; initialDepth = 1599.532530; finalDepth = 1593.887553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0008809999999 # Actual altitude: 52.0008809999999 # Commanded vehicle depth:1593.887553 # Seafloor depth:-1643.887553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1649.532530 meters looking forward 100.000000 meters along route # Maximum depth: 1653.560373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.532530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695951; longitude = -122.048594; captureRadius = 10; duration = 84; initialDepth = 1603.128900; finalDepth = 1599.532530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038577 # Actual altitude: 50.038577 # Commanded vehicle depth:1599.53253 # Seafloor depth:-1649.571107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1653.128900 meters looking forward 100.000000 meters along route # Maximum depth: 1655.580348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.128900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696050; longitude = -122.049491; captureRadius = 10; duration = 84; initialDepth = 1604.696620; finalDepth = 1603.128900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637467 # Actual altitude: 50.637467 # Commanded vehicle depth:1603.1289 # Seafloor depth:-1653.766367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1654.696620 meters looking forward 100.000000 meters along route # Maximum depth: 1664.445286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.696620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696150; longitude = -122.050387; captureRadius = 10; duration = 84; initialDepth = 1614.445286; finalDepth = 1604.696620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637467 # Actual altitude: 50.637467 # Commanded vehicle depth:1604.69662 # Seafloor depth:-1654.709872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1664.445286 meters looking forward 100.000000 meters along route # Maximum depth: 1667.550545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.445286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696249; longitude = -122.051283; captureRadius = 10; duration = 84; initialDepth = 1617.550545; finalDepth = 1614.445286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4280950000002 # Actual altitude: 51.4280950000002 # Commanded vehicle depth:1614.445286 # Seafloor depth:-1665.873381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1667.550545 meters looking forward 100.000000 meters along route # Maximum depth: 1672.300037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.550545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696349; longitude = -122.052179; captureRadius = 10; duration = 84; initialDepth = 1622.300037; finalDepth = 1617.550545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4280950000002 # Actual altitude: 51.4280950000002 # Commanded vehicle depth:1617.550545 # Seafloor depth:-1667.856531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1672.300037 meters looking forward 100.000000 meters along route # Maximum depth: 1676.933064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.300037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696449; longitude = -122.053076; captureRadius = 10; duration = 84; initialDepth = 1626.933064; finalDepth = 1622.300037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0869809999999 # Actual altitude: 51.0869809999999 # Commanded vehicle depth:1622.300037 # Seafloor depth:-1673.387018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1676.933064 meters looking forward 100.000000 meters along route # Maximum depth: 1685.787068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.933064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696548; longitude = -122.053972; captureRadius = 10; duration = 84; initialDepth = 1633.382423; finalDepth = 1626.933064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0869809999999 # Actual altitude: 51.0869809999999 # Commanded vehicle depth:1626.933064 # Seafloor depth:-1677.437766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1683.382423 meters looking forward 100.000000 meters along route # Maximum depth: 1686.976645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.382423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696648; longitude = -122.054868; captureRadius = 10; duration = 84; initialDepth = 1633.803552; finalDepth = 1633.382423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3839189999999 # Actual altitude: 53.3839189999999 # Commanded vehicle depth:1633.382423 # Seafloor depth:-1686.766342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1683.803552 meters looking forward 100.000000 meters along route # Maximum depth: 1695.585454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.803552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.055769; captureRadius = 10; duration = 84; initialDepth = 1645.185349; finalDepth = 1633.803552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3839189999999 # Actual altitude: 53.3839189999999 # Commanded vehicle depth:1633.803552 # Seafloor depth:-1684.746823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1695.185349 meters looking forward 100.000000 meters along route # Maximum depth: 1702.209667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.185349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696847; longitude = -122.056661; captureRadius = 10; duration = 84; initialDepth = 1652.037218; finalDepth = 1645.185349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411392 # Actual altitude: 51.411392 # Commanded vehicle depth:1645.185349 # Seafloor depth:-1696.596741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1702.037218 meters looking forward 100.000000 meters along route # Maximum depth: 1706.336504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.037218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696947; longitude = -122.057557; captureRadius = 10; duration = 84; initialDepth = 1656.336504; finalDepth = 1652.037218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411392 # Actual altitude: 51.411392 # Commanded vehicle depth:1652.037218 # Seafloor depth:-1702.487437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1706.336504 meters looking forward 100.000000 meters along route # Maximum depth: 1713.413385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.336504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697046; longitude = -122.058453; captureRadius = 10; duration = 84; initialDepth = 1663.413385; finalDepth = 1656.336504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.980284 # Actual altitude: 50.980284 # Commanded vehicle depth:1656.336504 # Seafloor depth:-1707.316788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 84.671703 meters # Minimum depth: 1713.413385 meters looking forward 100.000000 meters along route # Maximum depth: 1717.527934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.413385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697146; longitude = -122.059349; captureRadius = 10; duration = 84; initialDepth = 1667.449005; finalDepth = 1663.413385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.980284 # Actual altitude: 50.980284 # Commanded vehicle depth:1663.413385 # Seafloor depth:-1714.157910 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 84.671703 meters # Minimum depth: 1717.449005 meters looking forward 100.000000 meters along route # Maximum depth: 1722.198676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.449005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.060278; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1672.198676; finalDepth = 1667.449005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7445249999998 # Actual altitude: 50.7445249999998 # Commanded vehicle depth:1667.449005 # Seafloor depth:-1717.449005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1722.198676 meters looking forward 100.000000 meters along route # Maximum depth: 1723.111251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.198676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697450; longitude = -122.061142; captureRadius = 10; duration = 84; initialDepth = 1672.988506; finalDepth = 1672.198676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.45714 # Actual altitude: 50.45714 # Commanded vehicle depth:1672.198676 # Seafloor depth:-1722.655816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1722.988506 meters looking forward 100.000000 meters along route # Maximum depth: 1727.948652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.988506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.062001; captureRadius = 10; duration = 84; initialDepth = 1677.365241; finalDepth = 1672.988506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.45714 # Actual altitude: 50.45714 # Commanded vehicle depth:1672.988506 # Seafloor depth:-1723.322469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1727.365241 meters looking forward 100.000000 meters along route # Maximum depth: 1730.410992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.365241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697840; longitude = -122.062822; captureRadius = 10; duration = 84; initialDepth = 1679.589759; finalDepth = 1677.365241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9609110000001 # Actual altitude: 50.9609110000001 # Commanded vehicle depth:1677.365241 # Seafloor depth:-1728.326152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1729.589759 meters looking forward 100.000000 meters along route # Maximum depth: 1736.264715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.589759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698048; longitude = -122.063718; captureRadius = 10; duration = 84; initialDepth = 1686.264715; finalDepth = 1679.589759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6030720000001 # Actual altitude: 52.6030720000001 # Commanded vehicle depth:1679.589759 # Seafloor depth:-1732.192831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1736.264715 meters looking forward 100.000000 meters along route # Maximum depth: 1739.483797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.264715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698256; longitude = -122.064615; captureRadius = 10; duration = 84; initialDepth = 1689.158263; finalDepth = 1686.264715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6030720000001 # Actual altitude: 52.6030720000001 # Commanded vehicle depth:1686.264715 # Seafloor depth:-1736.629033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1739.158263 meters looking forward 100.000000 meters along route # Maximum depth: 1742.187120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.158263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698464; longitude = -122.065511; captureRadius = 10; duration = 84; initialDepth = 1692.174932; finalDepth = 1689.158263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.380995 # Actual altitude: 50.380995 # Commanded vehicle depth:1689.158263 # Seafloor depth:-1739.539258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1742.174932 meters looking forward 100.000000 meters along route # Maximum depth: 1746.681402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.174932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698672; longitude = -122.066407; captureRadius = 10; duration = 84; initialDepth = 1696.681402; finalDepth = 1692.174932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.380995 # Actual altitude: 50.380995 # Commanded vehicle depth:1692.174932 # Seafloor depth:-1742.484700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1746.681402 meters looking forward 100.000000 meters along route # Maximum depth: 1753.132570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.681402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698880; longitude = -122.067303; captureRadius = 10; duration = 84; initialDepth = 1702.366702; finalDepth = 1696.681402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3097680000001 # Actual altitude: 50.3097680000001 # Commanded vehicle depth:1696.681402 # Seafloor depth:-1746.894099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1752.366702 meters looking forward 100.000000 meters along route # Maximum depth: 1753.610108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.366702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.068213; captureRadius = 10; duration = 84; initialDepth = 1703.583947; finalDepth = 1702.366702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.799197 # Actual altitude: 50.799197 # Commanded vehicle depth:1702.366702 # Seafloor depth:-1753.165899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1753.583947 meters looking forward 100.000000 meters along route # Maximum depth: 1756.647191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.583947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699296; longitude = -122.069096; captureRadius = 10; duration = 84; initialDepth = 1706.647191; finalDepth = 1703.583947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.799197 # Actual altitude: 50.799197 # Commanded vehicle depth:1703.583947 # Seafloor depth:-1754.163637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1756.647191 meters looking forward 100.000000 meters along route # Maximum depth: 1758.497605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.647191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699504; longitude = -122.069992; captureRadius = 10; duration = 84; initialDepth = 1707.773781; finalDepth = 1706.647191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.57969 # Actual altitude: 50.57969 # Commanded vehicle depth:1706.647191 # Seafloor depth:-1756.772264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1757.773781 meters looking forward 100.000000 meters along route # Maximum depth: 1762.819836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.773781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699712; longitude = -122.070888; captureRadius = 10; duration = 84; initialDepth = 1712.567157; finalDepth = 1707.773781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483438 # Actual altitude: 51.483438 # Commanded vehicle depth:1707.773781 # Seafloor depth:-1759.257219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1762.567157 meters looking forward 100.000000 meters along route # Maximum depth: 1767.115289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.567157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.071706; captureRadius = 10; duration = 84; initialDepth = 1717.026795; finalDepth = 1712.567157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.483438 # Actual altitude: 51.483438 # Commanded vehicle depth:1712.567157 # Seafloor depth:-1762.917483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1767.026795 meters looking forward 100.000000 meters along route # Maximum depth: 1769.424745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.026795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700102; longitude = -122.072569; captureRadius = 10; duration = 84; initialDepth = 1719.424745; finalDepth = 1717.026795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3563180000001 # Actual altitude: 50.3563180000001 # Commanded vehicle depth:1717.026795 # Seafloor depth:-1767.383113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1769.424745 meters looking forward 100.000000 meters along route # Maximum depth: 1774.376018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.424745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700310; longitude = -122.073465; captureRadius = 10; duration = 84; initialDepth = 1723.491355; finalDepth = 1719.424745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3563180000001 # Actual altitude: 50.3563180000001 # Commanded vehicle depth:1719.424745 # Seafloor depth:-1769.760173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1773.491355 meters looking forward 100.000000 meters along route # Maximum depth: 1778.195918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.491355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700518; longitude = -122.074361; captureRadius = 10; duration = 84; initialDepth = 1727.779510; finalDepth = 1723.491355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7400679999998 # Actual altitude: 51.7400679999998 # Commanded vehicle depth:1723.491355 # Seafloor depth:-1775.231423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1777.779510 meters looking forward 100.000000 meters along route # Maximum depth: 1781.482885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.779510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700713; longitude = -122.075200; captureRadius = 10; duration = 84; initialDepth = 1731.408256; finalDepth = 1727.779510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7400679999998 # Actual altitude: 51.7400679999998 # Commanded vehicle depth:1727.77951 # Seafloor depth:-1778.422152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 84.671703 meters # Minimum depth: 1781.408256 meters looking forward 100.000000 meters along route # Maximum depth: 1783.348817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.408256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700908; longitude = -122.076042; captureRadius = 10; duration = 84; initialDepth = 1733.540924; finalDepth = 1731.408256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.642642 # Actual altitude: 50.642642 # Commanded vehicle depth:1731.408256 # Seafloor depth:-1781.545988 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 84.671703 meters # Minimum depth: 1783.540924 meters looking forward 100.000000 meters along route # Maximum depth: 1788.254784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.540924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701107; longitude = -122.076898; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1737.868697; finalDepth = 1733.540924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1377320000001 # Actual altitude: 50.1377320000001 # Commanded vehicle depth:1733.540924 # Seafloor depth:-1783.540924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.671703 meters # Minimum depth: 1787.868697 meters looking forward 100.000000 meters along route # Maximum depth: 1788.599841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.868697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701616; longitude = -122.078170; captureRadius = 10; duration = 84; initialDepth = 1738.599612; finalDepth = 1737.868697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3994299999999 # Actual altitude: 50.3994299999999 # Commanded vehicle depth:1737.868697 # Seafloor depth:-1788.268127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.671703 meters # Minimum depth: 1788.599612 meters looking forward 100.000000 meters along route # Maximum depth: 1794.999132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.599612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701929; longitude = -122.078954; captureRadius = 10; duration = 84; initialDepth = 1744.195393; finalDepth = 1738.599612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9307000000001 # Actual altitude: 50.9307000000001 # Commanded vehicle depth:1738.599612 # Seafloor depth:-1789.530312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.671703 meters # Minimum depth: 1794.195393 meters looking forward 100.000000 meters along route # Maximum depth: 1796.312650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.195393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702245; longitude = -122.079744; captureRadius = 10; duration = 84; initialDepth = 1746.242581; finalDepth = 1744.195393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9307000000001 # Actual altitude: 50.9307000000001 # Commanded vehicle depth:1744.195393 # Seafloor depth:-1795.009215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 84.671703 meters # Minimum depth: 1796.242581 meters looking forward 100.000000 meters along route # Maximum depth: 1797.204794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.242581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702556; longitude = -122.080523; captureRadius = 10; duration = 84; initialDepth = 1746.665412; finalDepth = 1746.242581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8138220000001 # Actual altitude: 50.8138220000001 # Commanded vehicle depth:1746.242581 # Seafloor depth:-1796.940788 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.26; 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 57 # Segment length 84.671703 meters # Minimum depth: 1796.665412 meters looking forward 100.000000 meters along route # Maximum depth: 1801.045095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.665412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.081350; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1749.872312; finalDepth = 1746.665412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6982070000001 # Actual altitude: 50.6982070000001 # Commanded vehicle depth:1746.665412 # Seafloor depth:-1797.015289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1799.872312 meters looking forward 100.000000 meters along route # Maximum depth: 1805.597189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.872312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.082145; captureRadius = 10; duration = 84; initialDepth = 1754.864773; finalDepth = 1749.872312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.709822 # Actual altitude: 51.709822 # Commanded vehicle depth:1749.872312 # Seafloor depth:-1801.582134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1804.864773 meters looking forward 100.000000 meters along route # Maximum depth: 1809.587876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.864773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702155; longitude = -122.082916; captureRadius = 10; duration = 84; initialDepth = 1758.901194; finalDepth = 1754.864773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.709822 # Actual altitude: 51.709822 # Commanded vehicle depth:1754.864773 # Seafloor depth:-1805.859501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1808.901194 meters looking forward 100.000000 meters along route # Maximum depth: 1813.529001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.901194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.083686; captureRadius = 10; duration = 84; initialDepth = 1762.417467; finalDepth = 1758.901194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9947279999999 # Actual altitude: 50.9947279999999 # Commanded vehicle depth:1758.901194 # Seafloor depth:-1809.723774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1812.417467 meters looking forward 100.000000 meters along route # Maximum depth: 1815.913118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.417467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.084457; captureRadius = 10; duration = 84; initialDepth = 1765.134427; finalDepth = 1762.417467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1602540000001 # Actual altitude: 51.1602540000001 # Commanded vehicle depth:1762.417467 # Seafloor depth:-1813.577721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1815.134427 meters looking forward 100.000000 meters along route # Maximum depth: 1818.207453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.134427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.085228; captureRadius = 10; duration = 84; initialDepth = 1767.297066; finalDepth = 1765.134427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1602540000001 # Actual altitude: 51.1602540000001 # Commanded vehicle depth:1765.134427 # Seafloor depth:-1815.913639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1817.297066 meters looking forward 100.000000 meters along route # Maximum depth: 1820.982211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.297066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700706; longitude = -122.086012; captureRadius = 10; duration = 84; initialDepth = 1770.247459; finalDepth = 1767.297066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0385589999999 # Actual altitude: 51.0385589999999 # Commanded vehicle depth:1767.297066 # Seafloor depth:-1818.335625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1820.247459 meters looking forward 100.000000 meters along route # Maximum depth: 1821.900667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.247459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700340; longitude = -122.086796; captureRadius = 10; duration = 84; initialDepth = 1771.712454; finalDepth = 1770.247459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0385589999999 # Actual altitude: 51.0385589999999 # Commanded vehicle depth:1770.247459 # Seafloor depth:-1820.247459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1821.712454 meters looking forward 100.000000 meters along route # Maximum depth: 1823.456017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.712454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699973; longitude = -122.087581; captureRadius = 10; duration = 84; initialDepth = 1773.261678; finalDepth = 1771.712454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.032987 # Actual altitude: 50.032987 # Commanded vehicle depth:1771.712454 # Seafloor depth:-1821.745441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1823.261678 meters looking forward 100.000000 meters along route # Maximum depth: 1825.949244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.261678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.088310; captureRadius = 10; duration = 84; initialDepth = 1775.237077; finalDepth = 1773.261678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2020679999998 # Actual altitude: 50.2020679999998 # Commanded vehicle depth:1773.261678 # Seafloor depth:-1823.463746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1825.237077 meters looking forward 100.000000 meters along route # Maximum depth: 1827.686968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.237077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699271; longitude = -122.089081; captureRadius = 10; duration = 84; initialDepth = 1776.932637; finalDepth = 1775.237077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2020679999998 # Actual altitude: 50.2020679999998 # Commanded vehicle depth:1775.237077 # Seafloor depth:-1825.237077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 84.671703 meters # Minimum depth: 1826.932637 meters looking forward 100.000000 meters along route # Maximum depth: 1831.469221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.932637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698925; longitude = -122.089821; captureRadius = 10; duration = 84; initialDepth = 1780.098101; finalDepth = 1776.932637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6114309999998 # Actual altitude: 51.6114309999998 # Commanded vehicle depth:1776.932637 # Seafloor depth:-1828.544068 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; 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 56 # Segment length 84.671703 meters # Minimum depth: 1830.098101 meters looking forward 100.000000 meters along route # Maximum depth: 1832.765648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.098101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698584; longitude = -122.090550; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1782.650062; finalDepth = 1780.098101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.869917 # Actual altitude: 51.869917 # Commanded vehicle depth:1780.098101 # Seafloor depth:-1831.968018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1832.650062 meters looking forward 100.000000 meters along route # Maximum depth: 1834.381840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.650062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699059; longitude = -122.091054; captureRadius = 10; duration = 84; initialDepth = 1783.738773; finalDepth = 1782.650062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.869917 # Actual altitude: 51.869917 # Commanded vehicle depth:1782.650062 # Seafloor depth:-1832.725188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1833.738773 meters looking forward 100.000000 meters along route # Maximum depth: 1837.114895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.738773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699587; longitude = -122.091614; captureRadius = 10; duration = 84; initialDepth = 1785.949748; finalDepth = 1783.738773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.075126 # Actual altitude: 50.075126 # Commanded vehicle depth:1783.738773 # Seafloor depth:-1833.738773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1835.949748 meters looking forward 100.000000 meters along route # Maximum depth: 1839.735652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.949748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700115; longitude = -122.092174; captureRadius = 10; duration = 84; initialDepth = 1787.105671; finalDepth = 1785.949748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.651715 # Actual altitude: 51.651715 # Commanded vehicle depth:1785.949748 # Seafloor depth:-1837.601463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1837.105671 meters looking forward 100.000000 meters along route # Maximum depth: 1839.735652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.105671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700643; longitude = -122.092734; captureRadius = 10; duration = 84; initialDepth = 1787.641681; finalDepth = 1787.105671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.334233 # Actual altitude: 52.334233 # Commanded vehicle depth:1787.105671 # Seafloor depth:-1839.439904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1837.641681 meters looking forward 100.000000 meters along route # Maximum depth: 1842.404431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.641681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701171; longitude = -122.093294; captureRadius = 10; duration = 84; initialDepth = 1790.680059; finalDepth = 1787.641681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.334233 # Actual altitude: 52.334233 # Commanded vehicle depth:1787.641681 # Seafloor depth:-1838.538389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1840.680059 meters looking forward 100.000000 meters along route # Maximum depth: 1842.411867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.680059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.093859; captureRadius = 10; duration = 84; initialDepth = 1791.252529; finalDepth = 1790.680059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.731808 # Actual altitude: 51.731808 # Commanded vehicle depth:1790.680059 # Seafloor depth:-1842.411867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1841.252529 meters looking forward 100.000000 meters along route # Maximum depth: 1842.650414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.252529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702227; longitude = -122.094414; captureRadius = 10; duration = 84; initialDepth = 1791.421770; finalDepth = 1791.252529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.731808 # Actual altitude: 51.731808 # Commanded vehicle depth:1791.252529 # Seafloor depth:-1842.616593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1841.421770 meters looking forward 100.000000 meters along route # Maximum depth: 1843.957116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.421770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702756; longitude = -122.094975; captureRadius = 10; duration = 84; initialDepth = 1793.834324; finalDepth = 1791.421770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3640639999999 # Actual altitude: 51.3640639999999 # Commanded vehicle depth:1791.42177 # Seafloor depth:-1842.291742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1843.834324 meters looking forward 100.000000 meters along route # Maximum depth: 1846.254431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.834324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703284; longitude = -122.095535; captureRadius = 10; duration = 84; initialDepth = 1795.620382; finalDepth = 1793.834324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8699720000002 # Actual altitude: 50.8699720000002 # Commanded vehicle depth:1793.834324 # Seafloor depth:-1843.981203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1845.620382 meters looking forward 100.000000 meters along route # Maximum depth: 1846.291939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.620382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703812; longitude = -122.096095; captureRadius = 10; duration = 84; initialDepth = 1791.762835; finalDepth = 1795.620382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.549626 # Actual altitude: 50.549626 # Commanded vehicle depth:1795.620382 # Seafloor depth:-1846.170008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1841.762835 meters looking forward 100.000000 meters along route # Maximum depth: 1846.183910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.762835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704340; longitude = -122.096655; captureRadius = 10; duration = 84; initialDepth = 1791.752017; finalDepth = 1791.762835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6472329999999 # Actual altitude: 53.6472329999999 # Commanded vehicle depth:1791.762835 # Seafloor depth:-1845.410068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1841.752017 meters looking forward 100.000000 meters along route # Maximum depth: 1844.099168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.752017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704868; longitude = -122.097215; captureRadius = 10; duration = 84; initialDepth = 1793.179893; finalDepth = 1791.752017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6472329999999 # Actual altitude: 53.6472329999999 # Commanded vehicle depth:1791.752017 # Seafloor depth:-1841.752017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1843.179893 meters looking forward 100.000000 meters along route # Maximum depth: 1844.483099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.179893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705399; longitude = -122.097778; captureRadius = 10; duration = 84; initialDepth = 1789.229551; finalDepth = 1793.179893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5376209999999 # Actual altitude: 50.5376209999999 # Commanded vehicle depth:1793.179893 # Seafloor depth:-1843.717514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1839.229551 meters looking forward 100.000000 meters along route # Maximum depth: 1844.483099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.229551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705940; longitude = -122.098352; captureRadius = 10; duration = 84; initialDepth = 1785.108499; finalDepth = 1789.229551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.430433 # Actual altitude: 54.430433 # Commanded vehicle depth:1789.229551 # Seafloor depth:-1843.659984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 84.671703 meters # Minimum depth: 1835.108499 meters looking forward 100.000000 meters along route # Maximum depth: 1839.684344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.108499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706480; longitude = -122.098925; captureRadius = 10; duration = 84; initialDepth = 1784.959961; finalDepth = 1785.108499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.430433 # Actual altitude: 54.430433 # Commanded vehicle depth:1785.108499 # Seafloor depth:-1839.000913 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 84.671703 meters # Minimum depth: 1834.959961 meters looking forward 100.000000 meters along route # Maximum depth: 1838.177970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.959961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707051; longitude = -122.099530; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1784.798612; finalDepth = 1784.959961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8924140000001 # Actual altitude: 53.8924140000001 # Commanded vehicle depth:1784.959961 # Seafloor depth:-1834.959961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1834.798612 meters looking forward 100.000000 meters along route # Maximum depth: 1838.183395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.798612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707296; longitude = -122.100688; captureRadius = 10; duration = 84; initialDepth = 1778.337474; finalDepth = 1784.798612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.384783 # Actual altitude: 53.384783 # Commanded vehicle depth:1784.798612 # Seafloor depth:-1838.183395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1828.337474 meters looking forward 100.000000 meters along route # Maximum depth: 1835.351893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.337474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707472; longitude = -122.101518; captureRadius = 10; duration = 84; initialDepth = 1777.548538; finalDepth = 1778.337474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3006 # Actual altitude: 56.3006 # Commanded vehicle depth:1778.337474 # Seafloor depth:-1834.638074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1827.548538 meters looking forward 100.000000 meters along route # Maximum depth: 1829.528256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.548538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707652; longitude = -122.102370; captureRadius = 10; duration = 84; initialDepth = 1777.548538; finalDepth = 1777.548538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3006 # Actual altitude: 56.3006 # Commanded vehicle depth:1777.548538 # Seafloor depth:-1828.337225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1827.548538 meters looking forward 100.000000 meters along route # Maximum depth: 1830.520996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.548538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707832; longitude = -122.103222; captureRadius = 10; duration = 84; initialDepth = 1777.399089; finalDepth = 1777.548538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.788687 # Actual altitude: 50.788687 # Commanded vehicle depth:1777.548538 # Seafloor depth:-1827.593599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1827.399089 meters looking forward 100.000000 meters along route # Maximum depth: 1830.520996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.399089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708012; longitude = -122.104073; captureRadius = 10; duration = 84; initialDepth = 1773.481181; finalDepth = 1777.399089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.014743 # Actual altitude: 53.014743 # Commanded vehicle depth:1777.399089 # Seafloor depth:-1830.413832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1823.481181 meters looking forward 100.000000 meters along route # Maximum depth: 1827.611376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.481181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708197; longitude = -122.104945; captureRadius = 10; duration = 84; initialDepth = 1768.079361; finalDepth = 1773.481181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1011669999998 # Actual altitude: 54.1011669999998 # Commanded vehicle depth:1773.481181 # Seafloor depth:-1827.582348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1818.079361 meters looking forward 100.000000 meters along route # Maximum depth: 1824.077825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.079361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708373; longitude = -122.105777; captureRadius = 10; duration = 84; initialDepth = 1762.941684; finalDepth = 1768.079361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2027229999999 # Actual altitude: 55.2027229999999 # Commanded vehicle depth:1768.079361 # Seafloor depth:-1823.282084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1812.941684 meters looking forward 100.000000 meters along route # Maximum depth: 1820.332371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.941684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708553; longitude = -122.106629; captureRadius = 10; duration = 84; initialDepth = 1754.834753; finalDepth = 1762.941684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2027229999999 # Actual altitude: 55.2027229999999 # Commanded vehicle depth:1762.941684 # Seafloor depth:-1818.057199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1804.834753 meters looking forward 100.000000 meters along route # Maximum depth: 1814.387298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.834753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708733; longitude = -122.107481; captureRadius = 10; duration = 84; initialDepth = 1746.001717; finalDepth = 1754.834753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1775419999999 # Actual altitude: 57.1775419999999 # Commanded vehicle depth:1754.834753 # Seafloor depth:-1812.012295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1796.001717 meters looking forward 100.000000 meters along route # Maximum depth: 1805.840534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.001717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708913; longitude = -122.108332; captureRadius = 10; duration = 84; initialDepth = 1732.541362; finalDepth = 1746.001717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6136669999999 # Actual altitude: 58.6136669999999 # Commanded vehicle depth:1746.001717 # Seafloor depth:-1804.615384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1782.541362 meters looking forward 100.000000 meters along route # Maximum depth: 1798.383039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.541362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709097; longitude = -122.109202; captureRadius = 10; duration = 84; initialDepth = 1714.651892; finalDepth = 1732.541362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2531450000001 # Actual altitude: 63.2531450000001 # Commanded vehicle depth:1732.541362 # Seafloor depth:-1795.794507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 253.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1764.651892 meters looking forward 100.000000 meters along route # Maximum depth: 1785.734636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.651892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709274; longitude = -122.110036; captureRadius = 10; duration = 84; initialDepth = 1703.507463; finalDepth = 1714.651892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6372229999999 # Actual altitude: 66.6372229999999 # Commanded vehicle depth:1714.651892 # Seafloor depth:-1781.289115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 266.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1753.507463 meters looking forward 100.000000 meters along route # Maximum depth: 1767.106963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.507463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709454; longitude = -122.110888; captureRadius = 10; duration = 84; initialDepth = 1694.807957; finalDepth = 1703.507463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6372229999999 # Actual altitude: 66.6372229999999 # Commanded vehicle depth:1703.507463 # Seafloor depth:-1764.550415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 266.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1744.807957 meters looking forward 100.000000 meters along route # Maximum depth: 1753.988901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.807957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709643; longitude = -122.111779; captureRadius = 10; duration = 84; initialDepth = 1690.107942; finalDepth = 1694.807957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.042952 # Actual altitude: 61.042952 # Commanded vehicle depth:1694.807957 # Seafloor depth:-1753.262299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 244.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1740.107942 meters looking forward 100.000000 meters along route # Maximum depth: 1745.058066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.107942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709832; longitude = -122.112675; captureRadius = 10; duration = 84; initialDepth = 1683.723028; finalDepth = 1690.107942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.454342 # Actual altitude: 58.454342 # Commanded vehicle depth:1690.107942 # Seafloor depth:-1744.093522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1733.723028 meters looking forward 100.000000 meters along route # Maximum depth: 1740.291218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.723028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710022; longitude = -122.113571; captureRadius = 10; duration = 84; initialDepth = 1674.308233; finalDepth = 1683.723028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9128639999999 # Actual altitude: 54.9128639999999 # Commanded vehicle depth:1683.723028 # Seafloor depth:-1738.635892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1724.308233 meters looking forward 100.000000 meters along route # Maximum depth: 1734.104491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.308233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710212; longitude = -122.114468; captureRadius = 10; duration = 84; initialDepth = 1660.081328; finalDepth = 1674.308233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7774570000001 # Actual altitude: 58.7774570000001 # Commanded vehicle depth:1674.308233 # Seafloor depth:-1733.085690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1710.081328 meters looking forward 100.000000 meters along route # Maximum depth: 1724.308233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.081328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710401; longitude = -122.115364; captureRadius = 10; duration = 84; initialDepth = 1654.993063; finalDepth = 1660.081328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9118020000001 # Actual altitude: 61.9118020000001 # Commanded vehicle depth:1660.081328 # Seafloor depth:-1721.993130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 84.671703 meters # Minimum depth: 1704.993063 meters looking forward 100.000000 meters along route # Maximum depth: 1710.081328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.993063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710591; longitude = -122.116260; captureRadius = 10; duration = 84; initialDepth = 1650.004405; finalDepth = 1654.993063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 61.9118020000001 # Actual altitude: 61.9118020000001 # Commanded vehicle depth:1654.993063 # Seafloor depth:-1708.807288 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 84.671703 meters # Minimum depth: 1700.004405 meters looking forward 100.000000 meters along route # Maximum depth: 1707.455902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.004405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710785; longitude = -122.117178; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1652.657873; finalDepth = 1650.004405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.451497 # Actual altitude: 57.451497 # Commanded vehicle depth:1650.004405 # Seafloor depth:-1707.455902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1702.657873 meters looking forward 100.000000 meters along route # Maximum depth: 1715.361792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.657873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711256; longitude = -122.116225; captureRadius = 10; duration = 84; initialDepth = 1664.205849; finalDepth = 1652.657873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.451497 # Actual altitude: 57.451497 # Commanded vehicle depth:1652.657873 # Seafloor depth:-1705.765738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1714.205849 meters looking forward 100.000000 meters along route # Maximum depth: 1719.963269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.205849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.115497; captureRadius = 10; duration = 84; initialDepth = 1666.238360; finalDepth = 1664.205849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1078649999999 # Actual altitude: 53.1078649999999 # Commanded vehicle depth:1664.205849 # Seafloor depth:-1716.007818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1716.238360 meters looking forward 100.000000 meters along route # Maximum depth: 1720.256840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.238360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711977; longitude = -122.114768; captureRadius = 10; duration = 84; initialDepth = 1655.911862; finalDepth = 1666.238360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8505579999999 # Actual altitude: 53.8505579999999 # Commanded vehicle depth:1666.23836 # Seafloor depth:-1720.088918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1705.911862 meters looking forward 100.000000 meters along route # Maximum depth: 1717.591299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.911862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712338; longitude = -122.114039; captureRadius = 10; duration = 84; initialDepth = 1655.911862; finalDepth = 1655.911862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0884600000002 # Actual altitude: 59.0884600000002 # Commanded vehicle depth:1655.911862 # Seafloor depth:-1715.000322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1705.911862 meters looking forward 100.000000 meters along route # Maximum depth: 1710.687693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.911862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712698; longitude = -122.113311; captureRadius = 10; duration = 84; initialDepth = 1660.308830; finalDepth = 1655.911862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0884600000002 # Actual altitude: 59.0884600000002 # Commanded vehicle depth:1655.911862 # Seafloor depth:-1706.048937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1710.308830 meters looking forward 100.000000 meters along route # Maximum depth: 1714.370207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.308830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.112582; captureRadius = 10; duration = 84; initialDepth = 1663.003578; finalDepth = 1660.308830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6488770000001 # Actual altitude: 50.6488770000001 # Commanded vehicle depth:1660.30883 # Seafloor depth:-1710.957707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1713.003578 meters looking forward 100.000000 meters along route # Maximum depth: 1727.316560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.003578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713419; longitude = -122.111853; captureRadius = 10; duration = 84; initialDepth = 1670.004128; finalDepth = 1663.003578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.875945 # Actual altitude: 51.875945 # Commanded vehicle depth:1663.003578 # Seafloor depth:-1714.879523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1720.004128 meters looking forward 100.000000 meters along route # Maximum depth: 1728.410639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.004128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.111125; captureRadius = 10; duration = 84; initialDepth = 1658.308453; finalDepth = 1670.004128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3165899999999 # Actual altitude: 58.3165899999999 # Commanded vehicle depth:1670.004128 # Seafloor depth:-1728.320718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1708.308453 meters looking forward 100.000000 meters along route # Maximum depth: 1723.441040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.308453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714140; longitude = -122.110396; captureRadius = 10; duration = 84; initialDepth = 1657.235212; finalDepth = 1658.308453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6344219999999 # Actual altitude: 60.6344219999999 # Commanded vehicle depth:1658.308453 # Seafloor depth:-1718.942875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1707.235212 meters looking forward 100.000000 meters along route # Maximum depth: 1715.059797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.235212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714501; longitude = -122.109668; captureRadius = 10; duration = 84; initialDepth = 1662.235692; finalDepth = 1657.235212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.6344219999999 # Actual altitude: 60.6344219999999 # Commanded vehicle depth:1657.235212 # Seafloor depth:-1707.676316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1712.235692 meters looking forward 100.000000 meters along route # Maximum depth: 1721.281107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.235692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714861; longitude = -122.108939; captureRadius = 10; duration = 84; initialDepth = 1662.859635; finalDepth = 1662.235692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6675970000001 # Actual altitude: 53.6675970000001 # Commanded vehicle depth:1662.235692 # Seafloor depth:-1715.903289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1712.859635 meters looking forward 100.000000 meters along route # Maximum depth: 1720.961637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.859635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.108210; captureRadius = 10; duration = 84; initialDepth = 1662.859635; finalDepth = 1662.859635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.789111 # Actual altitude: 55.789111 # Commanded vehicle depth:1662.859635 # Seafloor depth:-1718.648746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1712.859635 meters looking forward 100.000000 meters along route # Maximum depth: 1718.535009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.859635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.107482; captureRadius = 10; duration = 84; initialDepth = 1667.335577; finalDepth = 1662.859635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.789111 # Actual altitude: 55.789111 # Commanded vehicle depth:1662.859635 # Seafloor depth:-1712.923254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1717.335577 meters looking forward 100.000000 meters along route # Maximum depth: 1724.861821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.335577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715942; longitude = -122.106753; captureRadius = 10; duration = 84; initialDepth = 1666.168264; finalDepth = 1667.335577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5602819999999 # Actual altitude: 52.5602819999999 # Commanded vehicle depth:1667.335577 # Seafloor depth:-1719.895859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1716.168264 meters looking forward 100.000000 meters along route # Maximum depth: 1724.630922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.168264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716303; longitude = -122.106025; captureRadius = 10; duration = 84; initialDepth = 1655.647053; finalDepth = 1666.168264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2643800000001 # Actual altitude: 57.2643800000001 # Commanded vehicle depth:1666.168264 # Seafloor depth:-1723.432644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1705.647053 meters looking forward 100.000000 meters along route # Maximum depth: 1717.975568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.647053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716663; longitude = -122.105296; captureRadius = 10; duration = 84; initialDepth = 1650.820699; finalDepth = 1655.647053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.142411 # Actual altitude: 59.142411 # Commanded vehicle depth:1655.647053 # Seafloor depth:-1714.789464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1700.820699 meters looking forward 100.000000 meters along route # Maximum depth: 1708.068778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.820699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717024; longitude = -122.104567; captureRadius = 10; duration = 84; initialDepth = 1642.728838; finalDepth = 1650.820699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.142411 # Actual altitude: 59.142411 # Commanded vehicle depth:1650.820699 # Seafloor depth:-1705.001982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 84.671703 meters # Minimum depth: 1692.728838 meters looking forward 100.000000 meters along route # Maximum depth: 1700.940312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.728838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717391; longitude = -122.103825; captureRadius = 10; duration = 84; initialDepth = 1642.074127; finalDepth = 1642.728838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.114908 # Actual altitude: 58.114908 # Commanded vehicle depth:1642.728838 # Seafloor depth:-1700.843746 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.46; 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 53 # Segment length 84.671703 meters # Minimum depth: 1692.074127 meters looking forward 100.000000 meters along route # Maximum depth: 1698.956937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.074127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717760; longitude = -122.103079; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1647.345761; finalDepth = 1642.074127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.114908 # Actual altitude: 58.114908 # Commanded vehicle depth:1642.074127 # Seafloor depth:-1692.074127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 84.671703 meters # Minimum depth: 1697.345761 meters looking forward 100.000000 meters along route # Maximum depth: 1699.903103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.345761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717204; longitude = -122.102655; captureRadius = 10; duration = 84; initialDepth = 1647.510468; finalDepth = 1647.345761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 52.174209 # Actual altitude: 52.174209 # Commanded vehicle depth:1647.345761 # Seafloor depth:-1699.519970 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 84.671703 meters # Minimum depth: 1697.510468 meters looking forward 100.000000 meters along route # Maximum depth: 1718.394570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.510468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716608; longitude = -122.102200; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1664.251022; finalDepth = 1647.510468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.174209 # Actual altitude: 52.174209 # Commanded vehicle depth:1647.510468 # Seafloor depth:-1697.510468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1714.251022 meters looking forward 100.000000 meters along route # Maximum depth: 1732.929720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.251022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716123; longitude = -122.103181; captureRadius = 10; duration = 84; initialDepth = 1681.579267; finalDepth = 1664.251022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8894360000002 # Actual altitude: 54.8894360000002 # Commanded vehicle depth:1664.251022 # Seafloor depth:-1719.140458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1731.579267 meters looking forward 100.000000 meters along route # Maximum depth: 1739.344140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.579267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715762; longitude = -122.103910; captureRadius = 10; duration = 84; initialDepth = 1689.094108; finalDepth = 1681.579267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8894360000002 # Actual altitude: 54.8894360000002 # Commanded vehicle depth:1681.579267 # Seafloor depth:-1733.843156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1739.094108 meters looking forward 100.000000 meters along route # Maximum depth: 1744.851358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.094108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715402; longitude = -122.104638; captureRadius = 10; duration = 84; initialDepth = 1693.168076; finalDepth = 1689.094108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2638889999998 # Actual altitude: 52.2638889999998 # Commanded vehicle depth:1689.094108 # Seafloor depth:-1739.467287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1743.168076 meters looking forward 100.000000 meters along route # Maximum depth: 1751.083737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.168076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715041; longitude = -122.105367; captureRadius = 10; duration = 84; initialDepth = 1691.499944; finalDepth = 1693.168076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.139805 # Actual altitude: 53.139805 # Commanded vehicle depth:1693.168076 # Seafloor depth:-1746.307881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1741.499944 meters looking forward 100.000000 meters along route # Maximum depth: 1751.083737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.499944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714681; longitude = -122.106095; captureRadius = 10; duration = 84; initialDepth = 1690.504090; finalDepth = 1691.499944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8256230000002 # Actual altitude: 58.8256230000002 # Commanded vehicle depth:1691.499944 # Seafloor depth:-1750.325567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1740.504090 meters looking forward 100.000000 meters along route # Maximum depth: 1743.490713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.504090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714320; longitude = -122.106824; captureRadius = 10; duration = 84; initialDepth = 1688.968412; finalDepth = 1690.504090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8256230000002 # Actual altitude: 58.8256230000002 # Commanded vehicle depth:1690.50409 # Seafloor depth:-1740.983914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 235.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1738.968412 meters looking forward 100.000000 meters along route # Maximum depth: 1743.930141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.968412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.107553; captureRadius = 10; duration = 84; initialDepth = 1684.326826; finalDepth = 1688.968412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6363180000001 # Actual altitude: 54.6363180000001 # Commanded vehicle depth:1688.968412 # Seafloor depth:-1743.604730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1734.326826 meters looking forward 100.000000 meters along route # Maximum depth: 1740.763607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.326826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713599; longitude = -122.108281; captureRadius = 10; duration = 84; initialDepth = 1684.369617; finalDepth = 1684.326826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6363180000001 # Actual altitude: 54.6363180000001 # Commanded vehicle depth:1684.326826 # Seafloor depth:-1737.735590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1734.369617 meters looking forward 100.000000 meters along route # Maximum depth: 1746.490211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.369617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.109010; captureRadius = 10; duration = 84; initialDepth = 1694.336601; finalDepth = 1684.369617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.408764 # Actual altitude: 53.408764 # Commanded vehicle depth:1684.369617 # Seafloor depth:-1734.916213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1744.336601 meters looking forward 100.000000 meters along route # Maximum depth: 1750.139644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.336601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712878; longitude = -122.109738; captureRadius = 10; duration = 84; initialDepth = 1689.510744; finalDepth = 1694.336601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.291995 # Actual altitude: 53.291995 # Commanded vehicle depth:1694.336601 # Seafloor depth:-1747.628596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1739.510744 meters looking forward 100.000000 meters along route # Maximum depth: 1749.266603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.510744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.110467; captureRadius = 10; duration = 84; initialDepth = 1681.736530; finalDepth = 1689.510744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6076 # Actual altitude: 58.6076 # Commanded vehicle depth:1689.510744 # Seafloor depth:-1748.118344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1731.736530 meters looking forward 100.000000 meters along route # Maximum depth: 1742.267768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.736530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712158; longitude = -122.111195; captureRadius = 10; duration = 84; initialDepth = 1679.694689; finalDepth = 1681.736530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6076 # Actual altitude: 58.6076 # Commanded vehicle depth:1681.73653 # Seafloor depth:-1737.495213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1729.694689 meters looking forward 100.000000 meters along route # Maximum depth: 1731.857249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.694689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711797; longitude = -122.111924; captureRadius = 10; duration = 84; initialDepth = 1679.508965; finalDepth = 1679.694689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.758683 # Actual altitude: 55.758683 # Commanded vehicle depth:1679.694689 # Seafloor depth:-1731.661378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1729.508965 meters looking forward 100.000000 meters along route # Maximum depth: 1736.482521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.508965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711437; longitude = -122.112653; captureRadius = 10; duration = 84; initialDepth = 1683.387530; finalDepth = 1679.508965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9666890000001 # Actual altitude: 51.9666890000001 # Commanded vehicle depth:1679.508965 # Seafloor depth:-1729.527613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1733.387530 meters looking forward 100.000000 meters along route # Maximum depth: 1738.424370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.387530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711076; longitude = -122.113381; captureRadius = 10; duration = 84; initialDepth = 1679.310192; finalDepth = 1683.387530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.537141 # Actual altitude: 53.537141 # Commanded vehicle depth:1683.38753 # Seafloor depth:-1736.924671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1729.310192 meters looking forward 100.000000 meters along route # Maximum depth: 1735.352684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.310192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710716; longitude = -122.114110; captureRadius = 10; duration = 84; initialDepth = 1672.562554; finalDepth = 1679.310192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.537141 # Actual altitude: 53.537141 # Commanded vehicle depth:1679.310192 # Seafloor depth:-1731.899993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1722.562554 meters looking forward 100.000000 meters along route # Maximum depth: 1730.757434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.562554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.114838; captureRadius = 10; duration = 84; initialDepth = 1671.837367; finalDepth = 1672.562554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0953379999999 # Actual altitude: 58.0953379999999 # Commanded vehicle depth:1672.562554 # Seafloor depth:-1730.657892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 84.671703 meters # Minimum depth: 1721.837367 meters looking forward 100.000000 meters along route # Maximum depth: 1731.541603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.837367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709995; longitude = -122.115567; captureRadius = 10; duration = 84; initialDepth = 1674.965866; finalDepth = 1671.837367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0953379999999 # Actual altitude: 58.0953379999999 # Commanded vehicle depth:1671.837367 # Seafloor depth:-1722.108055 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 84.671703 meters # Minimum depth: 1724.965866 meters looking forward 100.000000 meters along route # Maximum depth: 1741.119266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.965866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709633; longitude = -122.116298; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1690.420712; finalDepth = 1674.965866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.277908 # Actual altitude: 58.277908 # Commanded vehicle depth:1674.965866 # Seafloor depth:-1733.243774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 84.671703 meters # Minimum depth: 1740.420712 meters looking forward 100.000000 meters along route # Maximum depth: 1754.482665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.420712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709094; longitude = -122.115886; captureRadius = 10; duration = 84; initialDepth = 1692.305813; finalDepth = 1690.420712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 58.277908 # Actual altitude: 58.277908 # Commanded vehicle depth:1690.420712 # Seafloor depth:-1741.920148 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 84.671703 meters # Minimum depth: 1742.305813 meters looking forward 100.000000 meters along route # Maximum depth: 1755.581329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.305813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708481; longitude = -122.115419; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1691.829633; finalDepth = 1692.305813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2755160000002 # Actual altitude: 63.2755160000002 # Commanded vehicle depth:1692.305813 # Seafloor depth:-1755.581329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1741.829633 meters looking forward 100.000000 meters along route # Maximum depth: 1745.174212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.829633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708913; longitude = -122.114545; captureRadius = 10; duration = 84; initialDepth = 1693.355908; finalDepth = 1691.829633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2755160000002 # Actual altitude: 63.2755160000002 # Commanded vehicle depth:1691.829633 # Seafloor depth:-1742.002201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1743.355908 meters looking forward 100.000000 meters along route # Maximum depth: 1745.174212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.355908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709274; longitude = -122.113816; captureRadius = 10; duration = 84; initialDepth = 1692.857989; finalDepth = 1693.355908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7522120000001 # Actual altitude: 51.7522120000001 # Commanded vehicle depth:1693.355908 # Seafloor depth:-1745.108120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1742.857989 meters looking forward 100.000000 meters along route # Maximum depth: 1746.791677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.857989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709634; longitude = -122.113088; captureRadius = 10; duration = 84; initialDepth = 1695.387972; finalDepth = 1692.857989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7522120000001 # Actual altitude: 51.7522120000001 # Commanded vehicle depth:1692.857989 # Seafloor depth:-1743.249522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1745.387972 meters looking forward 100.000000 meters along route # Maximum depth: 1755.787094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.387972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709995; longitude = -122.112359; captureRadius = 10; duration = 84; initialDepth = 1703.437881; finalDepth = 1695.387972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5477900000001 # Actual altitude: 52.5477900000001 # Commanded vehicle depth:1695.387972 # Seafloor depth:-1747.935762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1753.437881 meters looking forward 100.000000 meters along route # Maximum depth: 1758.805896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.437881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.111631; captureRadius = 10; duration = 84; initialDepth = 1701.660548; finalDepth = 1703.437881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8920389999998 # Actual altitude: 52.8920389999998 # Commanded vehicle depth:1703.437881 # Seafloor depth:-1756.329920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1751.660548 meters looking forward 100.000000 meters along route # Maximum depth: 1758.805896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.660548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710716; longitude = -122.110902; captureRadius = 10; duration = 84; initialDepth = 1701.548384; finalDepth = 1701.660548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.989998 # Actual altitude: 56.989998 # Commanded vehicle depth:1701.660548 # Seafloor depth:-1758.650546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1751.548384 meters looking forward 100.000000 meters along route # Maximum depth: 1758.788066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.548384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711076; longitude = -122.110174; captureRadius = 10; duration = 84; initialDepth = 1706.155250; finalDepth = 1701.548384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.989998 # Actual altitude: 56.989998 # Commanded vehicle depth:1701.548384 # Seafloor depth:-1751.548384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1756.155250 meters looking forward 100.000000 meters along route # Maximum depth: 1770.032162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.155250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711437; longitude = -122.109445; captureRadius = 10; duration = 84; initialDepth = 1710.091729; finalDepth = 1706.155250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.220615 # Actual altitude: 55.220615 # Commanded vehicle depth:1706.15525 # Seafloor depth:-1761.375865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1760.091729 meters looking forward 100.000000 meters along route # Maximum depth: 1769.474846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.091729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711797; longitude = -122.108717; captureRadius = 10; duration = 84; initialDepth = 1710.091729; finalDepth = 1710.091729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556403 # Actual altitude: 56.556403 # Commanded vehicle depth:1710.091729 # Seafloor depth:-1766.648132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1760.091729 meters looking forward 100.000000 meters along route # Maximum depth: 1762.838393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.091729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712158; longitude = -122.107988; captureRadius = 10; duration = 84; initialDepth = 1711.464842; finalDepth = 1710.091729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556403 # Actual altitude: 56.556403 # Commanded vehicle depth:1710.091729 # Seafloor depth:-1760.847713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1761.464842 meters looking forward 100.000000 meters along route # Maximum depth: 1768.133509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.464842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712518; longitude = -122.107259; captureRadius = 10; duration = 84; initialDepth = 1715.212678; finalDepth = 1711.464842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.920482 # Actual altitude: 51.920482 # Commanded vehicle depth:1711.464842 # Seafloor depth:-1763.385324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1765.212678 meters looking forward 100.000000 meters along route # Maximum depth: 1767.613149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.212678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712878; longitude = -122.106531; captureRadius = 10; duration = 84; initialDepth = 1709.507731; finalDepth = 1715.212678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.920482 # Actual altitude: 51.920482 # Commanded vehicle depth:1715.212678 # Seafloor depth:-1766.028452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1759.507731 meters looking forward 100.000000 meters along route # Maximum depth: 1765.571750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.507731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713239; longitude = -122.105802; captureRadius = 10; duration = 84; initialDepth = 1701.825153; finalDepth = 1709.507731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5127030000001 # Actual altitude: 55.5127030000001 # Commanded vehicle depth:1709.507731 # Seafloor depth:-1765.020434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1751.825153 meters looking forward 100.000000 meters along route # Maximum depth: 1760.674917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.825153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713599; longitude = -122.105074; captureRadius = 10; duration = 84; initialDepth = 1691.729941; finalDepth = 1701.825153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4734539999999 # Actual altitude: 56.4734539999999 # Commanded vehicle depth:1701.825153 # Seafloor depth:-1758.298607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1741.729941 meters looking forward 100.000000 meters along route # Maximum depth: 1752.651317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.729941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713960; longitude = -122.104345; captureRadius = 10; duration = 84; initialDepth = 1673.713260; finalDepth = 1691.729941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7758779999999 # Actual altitude: 59.7758779999999 # Commanded vehicle depth:1691.729941 # Seafloor depth:-1751.505819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 239.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1723.713260 meters looking forward 100.000000 meters along route # Maximum depth: 1743.746747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.713260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714320; longitude = -122.103617; captureRadius = 10; duration = 84; initialDepth = 1658.440518; finalDepth = 1673.713260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3745470000001 # Actual altitude: 66.3745470000001 # Commanded vehicle depth:1673.71326 # Seafloor depth:-1740.087807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 265.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1708.440518 meters looking forward 100.000000 meters along route # Maximum depth: 1727.646514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.440518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714681; longitude = -122.102888; captureRadius = 10; duration = 84; initialDepth = 1658.440518; finalDepth = 1658.440518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3745470000001 # Actual altitude: 66.3745470000001 # Commanded vehicle depth:1658.440518 # Seafloor depth:-1722.459317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 265.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.671703 meters # Minimum depth: 1708.440518 meters looking forward 100.000000 meters along route # Maximum depth: 1718.424686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.440518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715049; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1666.505718; finalDepth = 1658.440518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0187989999999 # Actual altitude: 64.0187989999999 # Commanded vehicle depth:1658.440518 # Seafloor depth:-1708.448801 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 84.671703 meters # Minimum depth: 1716.505718 meters looking forward 100.000000 meters along route # Maximum depth: 1738.429550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.505718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715456; longitude = -122.101321; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1685.058876; finalDepth = 1666.505718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4343760000002 # Actual altitude: 52.4343760000002 # Commanded vehicle depth:1666.505718 # Seafloor depth:-1718.940094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 84.671703 meters # Minimum depth: 1735.058876 meters looking forward 100.000000 meters along route # Maximum depth: 1752.738526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.058876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714920; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1702.634040; finalDepth = 1685.058876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 54.3705 # Actual altitude: 54.3705 # Commanded vehicle depth:1685.058876 # Seafloor depth:-1739.429376 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 84.671703 meters # Minimum depth: 1752.634040 meters looking forward 100.000000 meters along route # Maximum depth: 1759.455637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.634040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714304; longitude = -122.100442; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1708.607249; finalDepth = 1702.634040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3705 # Actual altitude: 54.3705 # Commanded vehicle depth:1702.63404 # Seafloor depth:-1752.854462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1758.607249 meters looking forward 100.000000 meters along route # Maximum depth: 1760.401331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.607249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713870; longitude = -122.101320; captureRadius = 10; duration = 84; initialDepth = 1709.631601; finalDepth = 1708.607249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3293550000001 # Actual altitude: 51.3293550000001 # Commanded vehicle depth:1708.607249 # Seafloor depth:-1759.936604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1759.631601 meters looking forward 100.000000 meters along route # Maximum depth: 1761.369789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.631601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713509; longitude = -122.102048; captureRadius = 10; duration = 84; initialDepth = 1697.399342; finalDepth = 1709.631601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3293550000001 # Actual altitude: 51.3293550000001 # Commanded vehicle depth:1709.631601 # Seafloor depth:-1760.381297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1747.399342 meters looking forward 100.000000 meters along route # Maximum depth: 1760.611734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.399342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713149; longitude = -122.102777; captureRadius = 10; duration = 84; initialDepth = 1697.399342; finalDepth = 1697.399342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.371003 # Actual altitude: 61.371003 # Commanded vehicle depth:1697.399342 # Seafloor depth:-1758.770345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1747.399342 meters looking forward 100.000000 meters along route # Maximum depth: 1752.781189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.399342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712788; longitude = -122.103506; captureRadius = 10; duration = 84; initialDepth = 1701.336643; finalDepth = 1697.399342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.371003 # Actual altitude: 61.371003 # Commanded vehicle depth:1697.399342 # Seafloor depth:-1747.442967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 245.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1751.336643 meters looking forward 100.000000 meters along route # Maximum depth: 1766.446734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.336643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712428; longitude = -122.104234; captureRadius = 10; duration = 84; initialDepth = 1713.886579; finalDepth = 1701.336643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7716789999999 # Actual altitude: 52.7716789999999 # Commanded vehicle depth:1701.336643 # Seafloor depth:-1754.108322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1763.886579 meters looking forward 100.000000 meters along route # Maximum depth: 1776.920670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.886579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712067; longitude = -122.104963; captureRadius = 10; duration = 84; initialDepth = 1725.081603; finalDepth = 1713.886579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8261640000001 # Actual altitude: 52.8261640000001 # Commanded vehicle depth:1713.886579 # Seafloor depth:-1766.712743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1775.081603 meters looking forward 100.000000 meters along route # Maximum depth: 1788.297671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.081603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711707; longitude = -122.105691; captureRadius = 10; duration = 84; initialDepth = 1736.419300; finalDepth = 1725.081603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424389999998 # Actual altitude: 53.0424389999998 # Commanded vehicle depth:1725.081603 # Seafloor depth:-1778.124042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1786.419300 meters looking forward 100.000000 meters along route # Maximum depth: 1791.484614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.419300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711346; longitude = -122.106420; captureRadius = 10; duration = 84; initialDepth = 1740.469269; finalDepth = 1736.419300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0424389999998 # Actual altitude: 53.0424389999998 # Commanded vehicle depth:1736.4193 # Seafloor depth:-1788.462290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1790.469269 meters looking forward 100.000000 meters along route # Maximum depth: 1792.212733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.469269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710986; longitude = -122.107148; captureRadius = 10; duration = 84; initialDepth = 1730.588322; finalDepth = 1740.469269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0429899999999 # Actual altitude: 52.0429899999999 # Commanded vehicle depth:1740.469269 # Seafloor depth:-1790.475568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1780.588322 meters looking forward 100.000000 meters along route # Maximum depth: 1792.115167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.588322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710626; longitude = -122.107877; captureRadius = 10; duration = 84; initialDepth = 1730.016977; finalDepth = 1730.588322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2500889999999 # Actual altitude: 60.2500889999999 # Commanded vehicle depth:1730.588322 # Seafloor depth:-1790.838411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1780.016977 meters looking forward 100.000000 meters along route # Maximum depth: 1786.042881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.016977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710265; longitude = -122.108605; captureRadius = 10; duration = 84; initialDepth = 1734.287420; finalDepth = 1730.016977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2500889999999 # Actual altitude: 60.2500889999999 # Commanded vehicle depth:1730.016977 # Seafloor depth:-1780.143960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1784.287420 meters looking forward 100.000000 meters along route # Maximum depth: 1788.704922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.287420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.109334; captureRadius = 10; duration = 84; initialDepth = 1716.910053; finalDepth = 1734.287420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9560219999998 # Actual altitude: 51.9560219999998 # Commanded vehicle depth:1734.28742 # Seafloor depth:-1786.243442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1766.910053 meters looking forward 100.000000 meters along route # Maximum depth: 1786.806849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.910053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709544; longitude = -122.110063; captureRadius = 10; duration = 84; initialDepth = 1711.957986; finalDepth = 1716.910053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6297219999999 # Actual altitude: 65.6297219999999 # Commanded vehicle depth:1716.910053 # Seafloor depth:-1782.539775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1761.957986 meters looking forward 100.000000 meters along route # Maximum depth: 1770.300634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.957986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.110791; captureRadius = 10; duration = 84; initialDepth = 1711.992406; finalDepth = 1711.957986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6297219999999 # Actual altitude: 65.6297219999999 # Commanded vehicle depth:1711.957986 # Seafloor depth:-1766.504063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 262.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1761.992406 meters looking forward 100.000000 meters along route # Maximum depth: 1767.015153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.992406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.111520; captureRadius = 10; duration = 84; initialDepth = 1716.117788; finalDepth = 1711.992406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5460770000002 # Actual altitude: 54.5460770000002 # Commanded vehicle depth:1711.992406 # Seafloor depth:-1762.897665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1766.117788 meters looking forward 100.000000 meters along route # Maximum depth: 1774.426206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.117788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708463; longitude = -122.112248; captureRadius = 10; duration = 84; initialDepth = 1723.035689; finalDepth = 1716.117788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0647140000001 # Actual altitude: 51.0647140000001 # Commanded vehicle depth:1716.117788 # Seafloor depth:-1767.182502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1773.035689 meters looking forward 100.000000 meters along route # Maximum depth: 1781.414268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.035689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708085; longitude = -122.113011; captureRadius = 10; duration = 84; initialDepth = 1731.302904; finalDepth = 1723.035689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9828069999999 # Actual altitude: 51.9828069999999 # Commanded vehicle depth:1723.035689 # Seafloor depth:-1775.018496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 84.671703 meters # Minimum depth: 1781.302904 meters looking forward 100.000000 meters along route # Maximum depth: 1787.225686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.302904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707697; longitude = -122.113795; captureRadius = 10; duration = 84; initialDepth = 1736.049777; finalDepth = 1731.302904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9828069999999 # Actual altitude: 51.9828069999999 # Commanded vehicle depth:1731.302904 # Seafloor depth:-1781.975177 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 84.671703 meters # Minimum depth: 1786.049777 meters looking forward 100.000000 meters along route # Maximum depth: 1800.396651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.049777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707329; longitude = -122.114540; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1743.731490; finalDepth = 1736.049777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.408383 # Actual altitude: 51.408383 # Commanded vehicle depth:1736.049777 # Seafloor depth:-1787.458160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 84.671703 meters # Minimum depth: 1793.731490 meters looking forward 100.000000 meters along route # Maximum depth: 1804.397808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.731490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706751; longitude = -122.114432; captureRadius = 10; duration = 84; initialDepth = 1742.519348; finalDepth = 1743.731490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 58.9279790000001 # Actual altitude: 58.9279790000001 # Commanded vehicle depth:1743.73149 # Seafloor depth:-1802.659469 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 84.671703 meters # Minimum depth: 1792.519348 meters looking forward 100.000000 meters along route # Maximum depth: 1810.738762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.519348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.114293; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1748.747378; finalDepth = 1742.519348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9279790000001 # Actual altitude: 58.9279790000001 # Commanded vehicle depth:1742.519348 # Seafloor depth:-1792.519348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1798.747378 meters looking forward 100.000000 meters along route # Maximum depth: 1810.740157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.747378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.113683; captureRadius = 10; duration = 84; initialDepth = 1745.385355; finalDepth = 1748.747378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9927789999999 # Actual altitude: 61.9927789999999 # Commanded vehicle depth:1748.747378 # Seafloor depth:-1810.740157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1795.385355 meters looking forward 100.000000 meters along route # Maximum depth: 1801.073514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.385355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.112940; captureRadius = 10; duration = 84; initialDepth = 1746.540412; finalDepth = 1745.385355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9927789999999 # Actual altitude: 61.9927789999999 # Commanded vehicle depth:1745.385355 # Seafloor depth:-1797.494613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1796.540412 meters looking forward 100.000000 meters along route # Maximum depth: 1798.442385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.540412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707021; longitude = -122.112197; captureRadius = 10; duration = 84; initialDepth = 1735.427048; finalDepth = 1746.540412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1092580000002 # Actual altitude: 52.1092580000002 # Commanded vehicle depth:1746.540412 # Seafloor depth:-1796.752019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1785.427048 meters looking forward 100.000000 meters along route # Maximum depth: 1798.442385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.427048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707387; longitude = -122.111443; captureRadius = 10; duration = 84; initialDepth = 1731.770443; finalDepth = 1735.427048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6158849999999 # Actual altitude: 62.6158849999999 # Commanded vehicle depth:1735.427048 # Seafloor depth:-1798.042933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 250.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1781.770443 meters looking forward 100.000000 meters along route # Maximum depth: 1788.123870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.770443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707742; longitude = -122.110712; captureRadius = 10; duration = 84; initialDepth = 1731.770443; finalDepth = 1731.770443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6158849999999 # Actual altitude: 62.6158849999999 # Commanded vehicle depth:1731.770443 # Seafloor depth:-1784.394454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 250.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1781.770443 meters looking forward 100.000000 meters along route # Maximum depth: 1788.739391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.770443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708102; longitude = -122.109969; captureRadius = 10; duration = 84; initialDepth = 1737.225268; finalDepth = 1731.770443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6240110000001 # Actual altitude: 52.6240110000001 # Commanded vehicle depth:1731.770443 # Seafloor depth:-1782.020170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1787.225268 meters looking forward 100.000000 meters along route # Maximum depth: 1802.517630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.225268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708463; longitude = -122.109226; captureRadius = 10; duration = 84; initialDepth = 1750.343269; finalDepth = 1737.225268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7431740000002 # Actual altitude: 52.7431740000002 # Commanded vehicle depth:1737.225268 # Seafloor depth:-1789.968442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1800.343269 meters looking forward 100.000000 meters along route # Maximum depth: 1806.079899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.343269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.108483; captureRadius = 10; duration = 84; initialDepth = 1753.481363; finalDepth = 1750.343269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7802140000001 # Actual altitude: 52.7802140000001 # Commanded vehicle depth:1750.343269 # Seafloor depth:-1803.123483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1803.481363 meters looking forward 100.000000 meters along route # Maximum depth: 1806.040506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.481363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.107740; captureRadius = 10; duration = 84; initialDepth = 1751.443176; finalDepth = 1753.481363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7802140000001 # Actual altitude: 52.7802140000001 # Commanded vehicle depth:1753.481363 # Seafloor depth:-1805.346582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1801.443176 meters looking forward 100.000000 meters along route # Maximum depth: 1806.018531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.443176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709544; longitude = -122.106998; captureRadius = 10; duration = 84; initialDepth = 1745.972049; finalDepth = 1751.443176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7943170000001 # Actual altitude: 53.7943170000001 # Commanded vehicle depth:1751.443176 # Seafloor depth:-1805.237493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1795.972049 meters looking forward 100.000000 meters along route # Maximum depth: 1803.240494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.972049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709905; longitude = -122.106255; captureRadius = 10; duration = 84; initialDepth = 1739.239226; finalDepth = 1745.972049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.056102 # Actual altitude: 55.056102 # Commanded vehicle depth:1745.972049 # Seafloor depth:-1801.028151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1789.239226 meters looking forward 100.000000 meters along route # Maximum depth: 1797.641576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.239226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710268; longitude = -122.105505; captureRadius = 10; duration = 84; initialDepth = 1738.643891; finalDepth = 1739.239226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6511870000002 # Actual altitude: 56.6511870000002 # Commanded vehicle depth:1739.239226 # Seafloor depth:-1795.890413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1788.643891 meters looking forward 100.000000 meters along route # Maximum depth: 1790.179971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.643891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710626; longitude = -122.104769; captureRadius = 10; duration = 84; initialDepth = 1732.658439; finalDepth = 1738.643891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6511870000002 # Actual altitude: 56.6511870000002 # Commanded vehicle depth:1738.643891 # Seafloor depth:-1788.977999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1782.658439 meters looking forward 100.000000 meters along route # Maximum depth: 1790.021335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.658439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710986; longitude = -122.104026; captureRadius = 10; duration = 84; initialDepth = 1730.193194; finalDepth = 1732.658439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7086569999999 # Actual altitude: 55.7086569999999 # Commanded vehicle depth:1732.658439 # Seafloor depth:-1788.367096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1780.193194 meters looking forward 100.000000 meters along route # Maximum depth: 1783.062578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.193194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711356; longitude = -122.103265; captureRadius = 10; duration = 84; initialDepth = 1729.633000; finalDepth = 1730.193194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7086569999999 # Actual altitude: 55.7086569999999 # Commanded vehicle depth:1730.193194 # Seafloor depth:-1782.903444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1779.633000 meters looking forward 100.000000 meters along route # Maximum depth: 1781.106257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.633000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711707; longitude = -122.102541; captureRadius = 10; duration = 84; initialDepth = 1728.606730; finalDepth = 1729.633000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7102500000001 # Actual altitude: 52.7102500000001 # Commanded vehicle depth:1729.633 # Seafloor depth:-1780.216915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1778.606730 meters looking forward 100.000000 meters along route # Maximum depth: 1780.114148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.606730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712067; longitude = -122.101798; captureRadius = 10; duration = 84; initialDepth = 1722.136830; finalDepth = 1728.606730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0204570000001 # Actual altitude: 51.0204570000001 # Commanded vehicle depth:1728.60673 # Seafloor depth:-1779.627187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1772.136830 meters looking forward 100.000000 meters along route # Maximum depth: 1779.377324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.136830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712428; longitude = -122.101055; captureRadius = 10; duration = 84; initialDepth = 1709.794562; finalDepth = 1722.136830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.959951 # Actual altitude: 55.959951 # Commanded vehicle depth:1722.13683 # Seafloor depth:-1778.096781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 84.671703 meters # Minimum depth: 1759.794562 meters looking forward 100.000000 meters along route # Maximum depth: 1774.147348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.794562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712788; longitude = -122.100312; captureRadius = 10; duration = 84; initialDepth = 1708.818269; finalDepth = 1709.794562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.687283 # Actual altitude: 61.687283 # Commanded vehicle depth:1709.794562 # Seafloor depth:-1771.481845 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 84.671703 meters # Minimum depth: 1758.818269 meters looking forward 100.000000 meters along route # Maximum depth: 1762.478151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.818269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713152; longitude = -122.099563; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1705.342493; finalDepth = 1708.818269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.687283 # Actual altitude: 61.687283 # Commanded vehicle depth:1708.818269 # Seafloor depth:-1758.858734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 84.671703 meters # Minimum depth: 1755.342493 meters looking forward 100.000000 meters along route # Maximum depth: 1759.597023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.342493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712608; longitude = -122.099148; captureRadius = 10; duration = 84; initialDepth = 1705.437042; finalDepth = 1705.342493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 54.0432289999999 # Actual altitude: 54.0432289999999 # Commanded vehicle depth:1705.342493 # Seafloor depth:-1759.385722 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 84.671703 meters # Minimum depth: 1755.437042 meters looking forward 100.000000 meters along route # Maximum depth: 1761.239928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.437042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712000; longitude = -122.098683; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1709.544085; finalDepth = 1705.437042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0432289999999 # Actual altitude: 54.0432289999999 # Commanded vehicle depth:1705.437042 # Seafloor depth:-1755.437042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1759.544085 meters looking forward 100.000000 meters along route # Maximum depth: 1769.958025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.544085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711527; longitude = -122.099691; captureRadius = 10; duration = 84; initialDepth = 1718.129127; finalDepth = 1709.544085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8155859999999 # Actual altitude: 51.8155859999999 # Commanded vehicle depth:1709.544085 # Seafloor depth:-1761.359671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1768.129127 meters looking forward 100.000000 meters along route # Maximum depth: 1784.483167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.129127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711163; longitude = -122.100464; captureRadius = 10; duration = 84; initialDepth = 1732.957136; finalDepth = 1718.129127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.941022 # Actual altitude: 51.941022 # Commanded vehicle depth:1718.129127 # Seafloor depth:-1770.070149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1782.957136 meters looking forward 100.000000 meters along route # Maximum depth: 1796.436456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.957136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710795; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1744.059114; finalDepth = 1732.957136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.941022 # Actual altitude: 51.941022 # Commanded vehicle depth:1732.957136 # Seafloor depth:-1784.850891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1794.059114 meters looking forward 100.000000 meters along route # Maximum depth: 1806.062595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.059114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710427; longitude = -122.102032; captureRadius = 10; duration = 84; initialDepth = 1754.558675; finalDepth = 1744.059114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9804370000002 # Actual altitude: 52.9804370000002 # Commanded vehicle depth:1744.059114 # Seafloor depth:-1797.039551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1804.558675 meters looking forward 100.000000 meters along route # Maximum depth: 1809.094812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.558675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710085; longitude = -122.102760; captureRadius = 10; duration = 84; initialDepth = 1757.903905; finalDepth = 1754.558675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9804370000002 # Actual altitude: 52.9804370000002 # Commanded vehicle depth:1754.558675 # Seafloor depth:-1806.702893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1807.903905 meters looking forward 100.000000 meters along route # Maximum depth: 1811.039423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.903905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709724; longitude = -122.103528; captureRadius = 10; duration = 84; initialDepth = 1759.589281; finalDepth = 1757.903905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1442179999999 # Actual altitude: 52.1442179999999 # Commanded vehicle depth:1757.903905 # Seafloor depth:-1809.494678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1809.589281 meters looking forward 100.000000 meters along route # Maximum depth: 1817.952755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.589281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709364; longitude = -122.104295; captureRadius = 10; duration = 84; initialDepth = 1767.245666; finalDepth = 1759.589281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5907730000001 # Actual altitude: 51.5907730000001 # Commanded vehicle depth:1759.589281 # Seafloor depth:-1810.026729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1817.245666 meters looking forward 100.000000 meters along route # Maximum depth: 1820.193990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.245666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709003; longitude = -122.105063; captureRadius = 10; duration = 84; initialDepth = 1769.293896; finalDepth = 1767.245666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7140850000001 # Actual altitude: 50.7140850000001 # Commanded vehicle depth:1767.245666 # Seafloor depth:-1817.959751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1819.293896 meters looking forward 100.000000 meters along route # Maximum depth: 1822.191486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.293896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708638; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1768.950915; finalDepth = 1769.293896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9854400000002 # Actual altitude: 50.9854400000002 # Commanded vehicle depth:1769.293896 # Seafloor depth:-1820.279336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1818.950915 meters looking forward 100.000000 meters along route # Maximum depth: 1822.191486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.950915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708269; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1759.580184; finalDepth = 1768.950915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9437 # Actual altitude: 52.9437 # Commanded vehicle depth:1768.950915 # Seafloor depth:-1821.894615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1809.580184 meters looking forward 100.000000 meters along route # Maximum depth: 1819.156244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.580184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707922; longitude = -122.107365; captureRadius = 10; duration = 84; initialDepth = 1748.569838; finalDepth = 1759.580184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0400910000001 # Actual altitude: 59.0400910000001 # Commanded vehicle depth:1759.580184 # Seafloor depth:-1818.620275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 236.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1798.569838 meters looking forward 100.000000 meters along route # Maximum depth: 1811.819080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.569838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707562; longitude = -122.108132; captureRadius = 10; duration = 84; initialDepth = 1745.878530; finalDepth = 1748.569838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.202166 # Actual altitude: 60.202166 # Commanded vehicle depth:1748.569838 # Seafloor depth:-1808.772004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1795.878530 meters looking forward 100.000000 meters along route # Maximum depth: 1800.823942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.878530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707201; longitude = -122.108900; captureRadius = 10; duration = 84; initialDepth = 1747.977498; finalDepth = 1745.878530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.202166 # Actual altitude: 60.202166 # Commanded vehicle depth:1745.87853 # Seafloor depth:-1798.182585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1797.977498 meters looking forward 100.000000 meters along route # Maximum depth: 1809.392955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.977498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706841; longitude = -122.109667; captureRadius = 10; duration = 84; initialDepth = 1758.119216; finalDepth = 1747.977498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.12979 # Actual altitude: 53.12979 # Commanded vehicle depth:1747.977498 # Seafloor depth:-1801.107288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1808.119216 meters looking forward 100.000000 meters along route # Maximum depth: 1815.439925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.119216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706480; longitude = -122.110435; captureRadius = 10; duration = 84; initialDepth = 1764.784227; finalDepth = 1758.119216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.12979 # Actual altitude: 53.12979 # Commanded vehicle depth:1758.119216 # Seafloor depth:-1809.393183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1814.784227 meters looking forward 100.000000 meters along route # Maximum depth: 1816.483494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.784227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706112; longitude = -122.111219; captureRadius = 10; duration = 84; initialDepth = 1765.035756; finalDepth = 1764.784227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2739669999999 # Actual altitude: 51.2739669999999 # Commanded vehicle depth:1764.784227 # Seafloor depth:-1815.491054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1815.035756 meters looking forward 100.000000 meters along route # Maximum depth: 1821.646253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.035756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705744; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1747.901420; finalDepth = 1765.035756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.833635 # Actual altitude: 51.833635 # Commanded vehicle depth:1765.035756 # Seafloor depth:-1816.869391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1797.901420 meters looking forward 100.000000 meters along route # Maximum depth: 1821.575285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.901420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705399; longitude = -122.112737; captureRadius = 10; duration = 84; initialDepth = 1733.066127; finalDepth = 1747.901420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.51694 # Actual altitude: 71.51694 # Commanded vehicle depth:1747.90142 # Seafloor depth:-1819.418360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.61; MB_Bottom_Detect_Filter_Max_Range = 286.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 84.671703 meters # Minimum depth: 1783.066127 meters looking forward 100.000000 meters along route # Maximum depth: 1802.080178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.066127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.113504; captureRadius = 10; duration = 84; initialDepth = 1733.066127; finalDepth = 1733.066127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.51694 # Actual altitude: 71.51694 # Commanded vehicle depth:1733.066127 # Seafloor depth:-1796.377557 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.61; MB_Bottom_Detect_Filter_Max_Range = 286.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 84.671703 meters # Minimum depth: 1783.066127 meters looking forward 100.000000 meters along route # Maximum depth: 1799.687194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.066127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.114293; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1747.306152; finalDepth = 1733.066127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.31143 # Actual altitude: 63.31143 # Commanded vehicle depth:1733.066127 # Seafloor depth:-1783.359192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 253.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 84.671703 meters # Minimum depth: 1797.306152 meters looking forward 100.000000 meters along route # Maximum depth: 1823.197488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.306152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704047; longitude = -122.114086; captureRadius = 10; duration = 84; initialDepth = 1766.003740; finalDepth = 1747.306152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 57.309352 # Actual altitude: 57.309352 # Commanded vehicle depth:1747.306152 # Seafloor depth:-1804.615504 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 84.671703 meters # Minimum depth: 1816.003740 meters looking forward 100.000000 meters along route # Maximum depth: 1824.755420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.003740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703333; longitude = -122.113848; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1763.834177; finalDepth = 1766.003740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5278149999999 # Actual altitude: 58.5278149999999 # Commanded vehicle depth:1766.00374 # Seafloor depth:-1824.531555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1813.834177 meters looking forward 100.000000 meters along route # Maximum depth: 1820.533202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.834177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703597; longitude = -122.113285; captureRadius = 10; duration = 84; initialDepth = 1767.476396; finalDepth = 1763.834177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5278149999999 # Actual altitude: 58.5278149999999 # Commanded vehicle depth:1763.834177 # Seafloor depth:-1815.301625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1817.476396 meters looking forward 100.000000 meters along route # Maximum depth: 1833.640022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.476396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703957; longitude = -122.112516; captureRadius = 10; duration = 84; initialDepth = 1782.056297; finalDepth = 1767.476396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128183 # Actual altitude: 54.128183 # Commanded vehicle depth:1767.476396 # Seafloor depth:-1821.604579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1832.056297 meters looking forward 100.000000 meters along route # Maximum depth: 1836.638008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.056297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704318; longitude = -122.111746; captureRadius = 10; duration = 84; initialDepth = 1784.788929; finalDepth = 1782.056297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.128183 # Actual altitude: 54.128183 # Commanded vehicle depth:1782.056297 # Seafloor depth:-1833.918106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1834.788929 meters looking forward 100.000000 meters along route # Maximum depth: 1836.617369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.788929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704678; longitude = -122.110977; captureRadius = 10; duration = 84; initialDepth = 1771.122103; finalDepth = 1784.788929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.861809 # Actual altitude: 51.861809 # Commanded vehicle depth:1784.788929 # Seafloor depth:-1836.128933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1821.122103 meters looking forward 100.000000 meters along route # Maximum depth: 1835.227007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.122103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705038; longitude = -122.110207; captureRadius = 10; duration = 84; initialDepth = 1756.944829; finalDepth = 1771.122103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0112690000001 # Actual altitude: 64.0112690000001 # Commanded vehicle depth:1771.122103 # Seafloor depth:-1835.133372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1806.944829 meters looking forward 100.000000 meters along route # Maximum depth: 1823.265484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.944829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705404; longitude = -122.109426; captureRadius = 10; duration = 84; initialDepth = 1755.462881; finalDepth = 1756.944829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0112690000001 # Actual altitude: 64.0112690000001 # Commanded vehicle depth:1756.944829 # Seafloor depth:-1820.891007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1805.462881 meters looking forward 100.000000 meters along route # Maximum depth: 1808.650454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.462881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705771; longitude = -122.108642; captureRadius = 10; duration = 84; initialDepth = 1757.198906; finalDepth = 1755.462881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.9461779999999 # Actual altitude: 63.9461779999999 # Commanded vehicle depth:1755.462881 # Seafloor depth:-1806.623930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 255.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1807.198906 meters looking forward 100.000000 meters along route # Maximum depth: 1816.073054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.198906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706139; longitude = -122.107858; captureRadius = 10; duration = 84; initialDepth = 1763.495872; finalDepth = 1757.198906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6535409999999 # Actual altitude: 51.6535409999999 # Commanded vehicle depth:1757.198906 # Seafloor depth:-1808.852447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1813.495872 meters looking forward 100.000000 meters along route # Maximum depth: 1827.801094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.495872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706480; longitude = -122.107129; captureRadius = 10; duration = 84; initialDepth = 1776.525862; finalDepth = 1763.495872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6656620000001 # Actual altitude: 53.6656620000001 # Commanded vehicle depth:1763.495872 # Seafloor depth:-1817.161534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1826.525862 meters looking forward 100.000000 meters along route # Maximum depth: 1833.761702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.525862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706841; longitude = -122.106359; captureRadius = 10; duration = 84; initialDepth = 1781.662407; finalDepth = 1776.525862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6656620000001 # Actual altitude: 53.6656620000001 # Commanded vehicle depth:1776.525862 # Seafloor depth:-1828.075763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1831.662407 meters looking forward 100.000000 meters along route # Maximum depth: 1833.761702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.662407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707201; longitude = -122.105590; captureRadius = 10; duration = 84; initialDepth = 1781.117726; finalDepth = 1781.662407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0790830000001 # Actual altitude: 52.0790830000001 # Commanded vehicle depth:1781.662407 # Seafloor depth:-1833.741490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1831.117726 meters looking forward 100.000000 meters along route # Maximum depth: 1832.011561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.117726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707562; longitude = -122.104820; captureRadius = 10; duration = 84; initialDepth = 1767.257654; finalDepth = 1781.117726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0790830000001 # Actual altitude: 52.0790830000001 # Commanded vehicle depth:1781.117726 # Seafloor depth:-1831.646405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1817.257654 meters looking forward 100.000000 meters along route # Maximum depth: 1831.503717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.257654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707923; longitude = -122.104049; captureRadius = 10; duration = 84; initialDepth = 1759.493413; finalDepth = 1767.257654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0268599999999 # Actual altitude: 64.0268599999999 # Commanded vehicle depth:1767.257654 # Seafloor depth:-1831.284514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1809.493413 meters looking forward 100.000000 meters along route # Maximum depth: 1819.150420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.493413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708290; longitude = -122.103265; captureRadius = 10; duration = 84; initialDepth = 1745.522545; finalDepth = 1759.493413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0268599999999 # Actual altitude: 64.0268599999999 # Commanded vehicle depth:1759.493413 # Seafloor depth:-1816.992266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1795.522545 meters looking forward 100.000000 meters along route # Maximum depth: 1811.055653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.522545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708658; longitude = -122.102481; captureRadius = 10; duration = 84; initialDepth = 1731.740658; finalDepth = 1745.522545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.324339 # Actual altitude: 63.324339 # Commanded vehicle depth:1745.522545 # Seafloor depth:-1808.846884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1781.740658 meters looking forward 100.000000 meters along route # Maximum depth: 1796.455798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.740658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709025; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1718.536502; finalDepth = 1731.740658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.324339 # Actual altitude: 63.324339 # Commanded vehicle depth:1731.740658 # Seafloor depth:-1794.843263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1768.536502 meters looking forward 100.000000 meters along route # Maximum depth: 1782.639754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.536502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709392; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1717.969132; finalDepth = 1718.536502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.102605 # Actual altitude: 63.102605 # Commanded vehicle depth:1718.536502 # Seafloor depth:-1780.617236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1767.969132 meters looking forward 100.000000 meters along route # Maximum depth: 1768.773039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.969132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709759; longitude = -122.100128; captureRadius = 10; duration = 84; initialDepth = 1716.054989; finalDepth = 1717.969132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.0807340000001 # Actual altitude: 62.0807340000001 # Commanded vehicle depth:1717.969132 # Seafloor depth:-1768.481153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1766.054989 meters looking forward 100.000000 meters along route # Maximum depth: 1769.938602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.054989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710127; longitude = -122.099344; captureRadius = 10; duration = 84; initialDepth = 1707.406359; finalDepth = 1716.054989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3626730000001 # Actual altitude: 52.3626730000001 # Commanded vehicle depth:1716.054989 # Seafloor depth:-1768.417662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 84.671703 meters # Minimum depth: 1757.406359 meters looking forward 100.000000 meters along route # Maximum depth: 1766.189925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.406359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710494; longitude = -122.098560; captureRadius = 10; duration = 84; initialDepth = 1706.318115; finalDepth = 1707.406359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8115029999999 # Actual altitude: 56.8115029999999 # Commanded vehicle depth:1707.406359 # Seafloor depth:-1764.217862 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 84.671703 meters # Minimum depth: 1756.318115 meters looking forward 100.000000 meters along route # Maximum depth: 1767.197154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.318115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710848; longitude = -122.097804; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1715.543908; finalDepth = 1706.318115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8115029999999 # Actual altitude: 56.8115029999999 # Commanded vehicle depth:1706.318115 # Seafloor depth:-1756.318115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 84.671703 meters # Minimum depth: 1765.543908 meters looking forward 100.000000 meters along route # Maximum depth: 1775.871993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.543908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710355; longitude = -122.097428; captureRadius = 10; duration = 84; initialDepth = 1726.657562; finalDepth = 1715.543908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.9407549999999 # Actual altitude: 51.9407549999999 # Commanded vehicle depth:1715.543908 # Seafloor depth:-1767.484663 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 84.671703 meters # Minimum depth: 1776.657562 meters looking forward 100.000000 meters along route # Maximum depth: 1785.916386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.657562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709696; longitude = -122.096925; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1735.263643; finalDepth = 1726.657562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9407549999999 # Actual altitude: 51.9407549999999 # Commanded vehicle depth:1726.657562 # Seafloor depth:-1776.657562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1785.263643 meters looking forward 100.000000 meters along route # Maximum depth: 1791.355163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.263643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.098021; captureRadius = 10; duration = 84; initialDepth = 1740.446295; finalDepth = 1735.263643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7599310000001 # Actual altitude: 50.7599310000001 # Commanded vehicle depth:1735.263643 # Seafloor depth:-1786.023574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1790.446295 meters looking forward 100.000000 meters along route # Maximum depth: 1792.601433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.446295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708823; longitude = -122.098793; captureRadius = 10; duration = 84; initialDepth = 1742.233133; finalDepth = 1740.446295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7599310000001 # Actual altitude: 50.7599310000001 # Commanded vehicle depth:1740.446295 # Seafloor depth:-1790.976892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1792.233133 meters looking forward 100.000000 meters along route # Maximum depth: 1798.146960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.233133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708461; longitude = -122.099568; captureRadius = 10; duration = 84; initialDepth = 1746.087841; finalDepth = 1742.233133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5305969999999 # Actual altitude: 50.5305969999999 # Commanded vehicle depth:1742.233133 # Seafloor depth:-1792.492017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1796.087841 meters looking forward 100.000000 meters along route # Maximum depth: 1826.116564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.087841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708095; longitude = -122.100352; captureRadius = 10; duration = 84; initialDepth = 1770.383770; finalDepth = 1746.087841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5272560000001 # Actual altitude: 52.5272560000001 # Commanded vehicle depth:1746.087841 # Seafloor depth:-1798.615097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1823.808938 meters looking forward 100.000000 meters along route # Maximum depth: 1835.206975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.383770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707728; longitude = -122.101136; captureRadius = 10; duration = 84; initialDepth = 1784.534193; finalDepth = 1770.383770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3549276999986 # Actual altitude: 56.3549276999986 # Commanded vehicle depth:1770.3837703 # Seafloor depth:-1826.738698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1834.534193 meters looking forward 100.000000 meters along route # Maximum depth: 1836.302416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.534193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707362; longitude = -122.101920; captureRadius = 10; duration = 84; initialDepth = 1786.006299; finalDepth = 1784.534193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3549276999986 # Actual altitude: 56.3549276999986 # Commanded vehicle depth:1784.534193 # Seafloor depth:-1835.211636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1836.006299 meters looking forward 100.000000 meters along route # Maximum depth: 1837.299372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.006299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707021; longitude = -122.102650; captureRadius = 10; duration = 84; initialDepth = 1786.780788; finalDepth = 1786.006299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.677443 # Actual altitude: 50.677443 # Commanded vehicle depth:1786.006299 # Seafloor depth:-1836.371837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1836.780788 meters looking forward 100.000000 meters along route # Maximum depth: 1837.929336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.780788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.103422; captureRadius = 10; duration = 84; initialDepth = 1787.796194; finalDepth = 1786.780788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.630776 # Actual altitude: 50.630776 # Commanded vehicle depth:1786.780788 # Seafloor depth:-1837.411564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1837.796194 meters looking forward 100.000000 meters along route # Maximum depth: 1839.518436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.796194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706300; longitude = -122.104193; captureRadius = 10; duration = 84; initialDepth = 1786.871806; finalDepth = 1787.796194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.630776 # Actual altitude: 50.630776 # Commanded vehicle depth:1787.796194 # Seafloor depth:-1837.944174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1836.871806 meters looking forward 100.000000 meters along route # Maximum depth: 1839.518436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.871806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705940; longitude = -122.104965; captureRadius = 10; duration = 84; initialDepth = 1777.206889; finalDepth = 1786.871806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.64501 # Actual altitude: 52.64501 # Commanded vehicle depth:1786.871806 # Seafloor depth:-1839.516816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1827.206889 meters looking forward 100.000000 meters along route # Maximum depth: 1838.191578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.206889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705579; longitude = -122.105736; captureRadius = 10; duration = 84; initialDepth = 1776.656363; finalDepth = 1777.206889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5691589999999 # Actual altitude: 59.5691589999999 # Commanded vehicle depth:1777.206889 # Seafloor depth:-1836.776048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1826.656363 meters looking forward 100.000000 meters along route # Maximum depth: 1829.263592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.656363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705216; longitude = -122.106514; captureRadius = 10; duration = 84; initialDepth = 1778.682374; finalDepth = 1776.656363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5691589999999 # Actual altitude: 59.5691589999999 # Commanded vehicle depth:1776.656363 # Seafloor depth:-1827.169986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1828.682374 meters looking forward 100.000000 meters along route # Maximum depth: 1840.131679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.682374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704850; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1788.875554; finalDepth = 1778.682374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7340570000001 # Actual altitude: 50.7340570000001 # Commanded vehicle depth:1778.682374 # Seafloor depth:-1829.416431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1838.875554 meters looking forward 100.000000 meters along route # Maximum depth: 1845.705853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.875554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704483; longitude = -122.108082; captureRadius = 10; duration = 84; initialDepth = 1795.332051; finalDepth = 1788.875554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.612447 # Actual altitude: 51.612447 # Commanded vehicle depth:1788.875554 # Seafloor depth:-1840.488001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1845.332051 meters looking forward 100.000000 meters along route # Maximum depth: 1847.984728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.332051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704117; longitude = -122.108866; captureRadius = 10; duration = 84; initialDepth = 1797.280533; finalDepth = 1795.332051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.612447 # Actual altitude: 51.612447 # Commanded vehicle depth:1795.332051 # Seafloor depth:-1845.561012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1847.280533 meters looking forward 100.000000 meters along route # Maximum depth: 1850.088011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.280533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.109594; captureRadius = 10; duration = 84; initialDepth = 1799.010456; finalDepth = 1797.280533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9450909999998 # Actual altitude: 50.9450909999998 # Commanded vehicle depth:1797.280533 # Seafloor depth:-1848.225624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1849.010456 meters looking forward 100.000000 meters along route # Maximum depth: 1851.130113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.010456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.110365; captureRadius = 10; duration = 84; initialDepth = 1791.118707; finalDepth = 1799.010456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1827940000001 # Actual altitude: 51.1827940000001 # Commanded vehicle depth:1799.010456 # Seafloor depth:-1850.193250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1841.118707 meters looking forward 100.000000 meters along route # Maximum depth: 1850.282473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.118707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.111137; captureRadius = 10; duration = 84; initialDepth = 1787.251408; finalDepth = 1791.118707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.642805 # Actual altitude: 57.642805 # Commanded vehicle depth:1791.118707 # Seafloor depth:-1848.761512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1837.251408 meters looking forward 100.000000 meters along route # Maximum depth: 1843.789105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.251408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.111908; captureRadius = 10; duration = 84; initialDepth = 1788.358630; finalDepth = 1787.251408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.642805 # Actual altitude: 57.642805 # Commanded vehicle depth:1787.251408 # Seafloor depth:-1840.818347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 84.671703 meters # Minimum depth: 1838.358630 meters looking forward 100.000000 meters along route # Maximum depth: 1845.640595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.358630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702337; longitude = -122.112675; captureRadius = 10; duration = 84; initialDepth = 1795.203156; finalDepth = 1788.358630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5669389999998 # Actual altitude: 53.5669389999998 # Commanded vehicle depth:1788.35863 # Seafloor depth:-1839.719001 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 84.671703 meters # Minimum depth: 1845.203156 meters looking forward 100.000000 meters along route # Maximum depth: 1853.124127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.203156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701997; longitude = -122.113403; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1802.170180; finalDepth = 1795.203156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.360371 # Actual altitude: 51.360371 # Commanded vehicle depth:1795.203156 # Seafloor depth:-1845.203156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 84.671703 meters # Minimum depth: 1852.170180 meters looking forward 100.000000 meters along route # Maximum depth: 1859.946119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.170180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.113319; captureRadius = 10; duration = 84; initialDepth = 1806.149422; finalDepth = 1802.170180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.9204069999998 # Actual altitude: 51.9204069999998 # Commanded vehicle depth:1802.17018 # Seafloor depth:-1854.090587 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 84.671703 meters # Minimum depth: 1856.149422 meters looking forward 100.000000 meters along route # Maximum depth: 1861.095821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.149422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700365; longitude = -122.113254; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1800.998182; finalDepth = 1806.149422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2436749999999 # Actual altitude: 54.2436749999999 # Commanded vehicle depth:1806.149422 # Seafloor depth:-1860.393097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 216.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1850.998182 meters looking forward 100.000000 meters along route # Maximum depth: 1857.269093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.998182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.112712; captureRadius = 10; duration = 84; initialDepth = 1799.713961; finalDepth = 1800.998182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576849 # Actual altitude: 54.576849 # Commanded vehicle depth:1800.998182 # Seafloor depth:-1855.575031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1849.713961 meters looking forward 100.000000 meters along route # Maximum depth: 1856.969147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.713961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.111953; captureRadius = 10; duration = 84; initialDepth = 1804.270964; finalDepth = 1799.713961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576849 # Actual altitude: 54.576849 # Commanded vehicle depth:1799.713961 # Seafloor depth:-1850.638575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1854.270964 meters looking forward 100.000000 meters along route # Maximum depth: 1865.410545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.270964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.111195; captureRadius = 10; duration = 84; initialDepth = 1813.856465; finalDepth = 1804.270964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0161889999999 # Actual altitude: 53.0161889999999 # Commanded vehicle depth:1804.270964 # Seafloor depth:-1857.287153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1863.856465 meters looking forward 100.000000 meters along route # Maximum depth: 1865.410860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.856465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701705; longitude = -122.110435; captureRadius = 10; duration = 84; initialDepth = 1812.118485; finalDepth = 1813.856465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0161889999999 # Actual altitude: 53.0161889999999 # Commanded vehicle depth:1813.856465 # Seafloor depth:-1865.410860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1862.118485 meters looking forward 100.000000 meters along route # Maximum depth: 1864.882291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.118485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702078; longitude = -122.109650; captureRadius = 10; duration = 84; initialDepth = 1812.118485; finalDepth = 1812.118485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7638059999999 # Actual altitude: 52.7638059999999 # Commanded vehicle depth:1812.118485 # Seafloor depth:-1864.882291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1862.118485 meters looking forward 100.000000 meters along route # Maximum depth: 1862.650999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.118485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.108920; captureRadius = 10; duration = 84; initialDepth = 1805.585366; finalDepth = 1812.118485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7638059999999 # Actual altitude: 52.7638059999999 # Commanded vehicle depth:1812.118485 # Seafloor depth:-1862.119974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1855.585366 meters looking forward 100.000000 meters along route # Maximum depth: 1862.562626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.585366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702786; longitude = -122.108161; captureRadius = 10; duration = 84; initialDepth = 1804.892826; finalDepth = 1805.585366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.457621 # Actual altitude: 56.457621 # Commanded vehicle depth:1805.585366 # Seafloor depth:-1862.042987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1854.892826 meters looking forward 100.000000 meters along route # Maximum depth: 1856.432707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.892826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.107403; captureRadius = 10; duration = 84; initialDepth = 1803.627125; finalDepth = 1804.892826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.457621 # Actual altitude: 56.457621 # Commanded vehicle depth:1804.892826 # Seafloor depth:-1855.545261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1853.627125 meters looking forward 100.000000 meters along route # Maximum depth: 1855.312684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.627125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703515; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1803.830941; finalDepth = 1803.627125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4134920000001 # Actual altitude: 51.4134920000001 # Commanded vehicle depth:1803.627125 # Seafloor depth:-1855.040617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1853.830941 meters looking forward 100.000000 meters along route # Maximum depth: 1857.788979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.830941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.105886; captureRadius = 10; duration = 84; initialDepth = 1802.439330; finalDepth = 1803.830941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4134920000001 # Actual altitude: 51.4134920000001 # Commanded vehicle depth:1803.830941 # Seafloor depth:-1854.895921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1852.439330 meters looking forward 100.000000 meters along route # Maximum depth: 1857.788979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.439330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.105128; captureRadius = 10; duration = 84; initialDepth = 1799.212349; finalDepth = 1802.439330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8434300000001 # Actual altitude: 54.8434300000001 # Commanded vehicle depth:1802.43933 # Seafloor depth:-1857.282760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1849.212349 meters looking forward 100.000000 meters along route # Maximum depth: 1853.908341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.212349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704588; longitude = -122.104369; captureRadius = 10; duration = 84; initialDepth = 1798.874654; finalDepth = 1799.212349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8434300000001 # Actual altitude: 54.8434300000001 # Commanded vehicle depth:1799.212349 # Seafloor depth:-1852.327345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1848.874654 meters looking forward 100.000000 meters along route # Maximum depth: 1850.430721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.874654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704953; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1795.452712; finalDepth = 1798.874654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.114996 # Actual altitude: 53.114996 # Commanded vehicle depth:1798.874654 # Seafloor depth:-1849.175692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1845.452712 meters looking forward 100.000000 meters along route # Maximum depth: 1850.518173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.452712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705309; longitude = -122.102853; captureRadius = 10; duration = 84; initialDepth = 1793.372393; finalDepth = 1795.452712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.064746 # Actual altitude: 55.064746 # Commanded vehicle depth:1795.452712 # Seafloor depth:-1850.517458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1843.372393 meters looking forward 100.000000 meters along route # Maximum depth: 1846.249134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.372393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.102094; captureRadius = 10; duration = 84; initialDepth = 1791.354039; finalDepth = 1793.372393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.064746 # Actual altitude: 55.064746 # Commanded vehicle depth:1793.372393 # Seafloor depth:-1845.213767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1841.354039 meters looking forward 100.000000 meters along route # Maximum depth: 1843.780125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.354039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.101336; captureRadius = 10; duration = 84; initialDepth = 1788.036802; finalDepth = 1791.354039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9498719999999 # Actual altitude: 51.9498719999999 # Commanded vehicle depth:1791.354039 # Seafloor depth:-1843.303911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1838.036802 meters looking forward 100.000000 meters along route # Maximum depth: 1841.513347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.036802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706391; longitude = -122.100576; captureRadius = 10; duration = 84; initialDepth = 1784.178048; finalDepth = 1788.036802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.314969 # Actual altitude: 53.314969 # Commanded vehicle depth:1788.036802 # Seafloor depth:-1841.351771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1834.178048 meters looking forward 100.000000 meters along route # Maximum depth: 1839.420897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.178048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706764; longitude = -122.099792; captureRadius = 10; duration = 84; initialDepth = 1779.502389; finalDepth = 1784.178048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6564100000001 # Actual altitude: 53.6564100000001 # Commanded vehicle depth:1784.178048 # Seafloor depth:-1837.834458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1829.502389 meters looking forward 100.000000 meters along route # Maximum depth: 1834.804459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.502389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707111; longitude = -122.099061; captureRadius = 10; duration = 84; initialDepth = 1764.806623; finalDepth = 1779.502389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.463788 # Actual altitude: 54.463788 # Commanded vehicle depth:1779.502389 # Seafloor depth:-1833.966177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1814.806623 meters looking forward 100.000000 meters along route # Maximum depth: 1831.633044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.806623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707472; longitude = -122.098302; captureRadius = 10; duration = 84; initialDepth = 1755.029374; finalDepth = 1764.806623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1177500000001 # Actual altitude: 64.1177500000001 # Commanded vehicle depth:1764.806623 # Seafloor depth:-1828.924373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 256.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1805.029374 meters looking forward 100.000000 meters along route # Maximum depth: 1818.063852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.029374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707832; longitude = -122.097544; captureRadius = 10; duration = 84; initialDepth = 1751.256325; finalDepth = 1755.029374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1177500000001 # Actual altitude: 64.1177500000001 # Commanded vehicle depth:1755.029374 # Seafloor depth:-1814.651940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 256.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 84.671703 meters # Minimum depth: 1801.256325 meters looking forward 100.000000 meters along route # Maximum depth: 1805.369969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.256325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708192; longitude = -122.096786; captureRadius = 10; duration = 84; initialDepth = 1751.256325; finalDepth = 1751.256325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.622566 # Actual altitude: 59.622566 # Commanded vehicle depth:1751.256325 # Seafloor depth:-1804.996020 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 84.671703 meters # Minimum depth: 1801.256325 meters looking forward 100.000000 meters along route # Maximum depth: 1805.914034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.256325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708544; longitude = -122.096046; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1755.393009; finalDepth = 1751.256325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.739695 # Actual altitude: 53.739695 # Commanded vehicle depth:1751.256325 # Seafloor depth:-1801.778595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 84.671703 meters # Minimum depth: 1805.393009 meters looking forward 100.000000 meters along route # Maximum depth: 1808.023090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.393009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708373; longitude = -122.095379; captureRadius = 10; duration = 84; initialDepth = 1756.753167; finalDepth = 1755.393009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6820190000001 # Actual altitude: 50.6820190000001 # Commanded vehicle depth:1755.393009 # Seafloor depth:-1806.075028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 84.671703 meters # Minimum depth: 1806.753167 meters looking forward 100.000000 meters along route # Maximum depth: 1809.370997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.753167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708154; longitude = -122.094526; captureRadius = 10; duration = 84; initialDepth = 1755.893066; finalDepth = 1756.753167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.74542 # Actual altitude: 51.74542 # Commanded vehicle depth:1756.753167 # Seafloor depth:-1808.498587 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 84.671703 meters # Minimum depth: 1805.893066 meters looking forward 100.000000 meters along route # Maximum depth: 1818.158856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.893066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707933; longitude = -122.093666; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1767.926588; finalDepth = 1755.893066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.74542 # Actual altitude: 51.74542 # Commanded vehicle depth:1755.893066 # Seafloor depth:-1805.893066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1817.926588 meters looking forward 100.000000 meters along route # Maximum depth: 1824.198305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.926588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707538; longitude = -122.094526; captureRadius = 10; duration = 84; initialDepth = 1773.744296; finalDepth = 1767.926588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4363989999999 # Actual altitude: 50.4363989999999 # Commanded vehicle depth:1767.926588 # Seafloor depth:-1818.362987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1823.744296 meters looking forward 100.000000 meters along route # Maximum depth: 1831.924776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.744296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707179; longitude = -122.095311; captureRadius = 10; duration = 84; initialDepth = 1781.628089; finalDepth = 1773.744296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8371079999999 # Actual altitude: 50.8371079999999 # Commanded vehicle depth:1773.744296 # Seafloor depth:-1824.581404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1831.628089 meters looking forward 100.000000 meters along route # Maximum depth: 1837.138507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.628089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706819; longitude = -122.096095; captureRadius = 10; duration = 84; initialDepth = 1786.861179; finalDepth = 1781.628089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8371079999999 # Actual altitude: 50.8371079999999 # Commanded vehicle depth:1781.628089 # Seafloor depth:-1832.133456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1836.861179 meters looking forward 100.000000 meters along route # Maximum depth: 1838.449232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.861179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706459; longitude = -122.096879; captureRadius = 10; duration = 84; initialDepth = 1788.410765; finalDepth = 1786.861179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.505367 # Actual altitude: 50.505367 # Commanded vehicle depth:1786.861179 # Seafloor depth:-1837.016277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1838.410765 meters looking forward 100.000000 meters along route # Maximum depth: 1845.661429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.410765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706100; longitude = -122.097663; captureRadius = 10; duration = 84; initialDepth = 1794.482194; finalDepth = 1788.410765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.155098 # Actual altitude: 50.155098 # Commanded vehicle depth:1788.410765 # Seafloor depth:-1838.412764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1844.482194 meters looking forward 100.000000 meters along route # Maximum depth: 1845.814560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.482194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705740; longitude = -122.098447; captureRadius = 10; duration = 84; initialDepth = 1794.628779; finalDepth = 1794.482194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3323660000001 # Actual altitude: 51.3323660000001 # Commanded vehicle depth:1794.482194 # Seafloor depth:-1845.814560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1844.628779 meters looking forward 100.000000 meters along route # Maximum depth: 1848.271869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.628779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705380; longitude = -122.099232; captureRadius = 10; duration = 84; initialDepth = 1797.879001; finalDepth = 1794.628779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3323660000001 # Actual altitude: 51.3323660000001 # Commanded vehicle depth:1794.628779 # Seafloor depth:-1845.003683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1847.879001 meters looking forward 100.000000 meters along route # Maximum depth: 1849.308717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.879001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705021; longitude = -122.100016; captureRadius = 10; duration = 84; initialDepth = 1799.193392; finalDepth = 1797.879001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5648819999999 # Actual altitude: 50.5648819999999 # Commanded vehicle depth:1797.879001 # Seafloor depth:-1848.443883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1849.193392 meters looking forward 100.000000 meters along route # Maximum depth: 1853.085951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.193392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704661; longitude = -122.100800; captureRadius = 10; duration = 84; initialDepth = 1802.770290; finalDepth = 1799.193392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5648819999999 # Actual altitude: 50.5648819999999 # Commanded vehicle depth:1799.193392 # Seafloor depth:-1849.383299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1852.770290 meters looking forward 100.000000 meters along route # Maximum depth: 1855.622698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.770290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704301; longitude = -122.101584; captureRadius = 10; duration = 84; initialDepth = 1804.309860; finalDepth = 1802.770290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529209 # Actual altitude: 50.529209 # Commanded vehicle depth:1802.77029 # Seafloor depth:-1853.299499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1854.309860 meters looking forward 100.000000 meters along route # Maximum depth: 1856.620058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.309860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703942; longitude = -122.102369; captureRadius = 10; duration = 84; initialDepth = 1806.296603; finalDepth = 1804.309860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529209 # Actual altitude: 50.529209 # Commanded vehicle depth:1804.30986 # Seafloor depth:-1854.542502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1856.296603 meters looking forward 100.000000 meters along route # Maximum depth: 1858.344665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.296603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703582; longitude = -122.103153; captureRadius = 10; duration = 84; initialDepth = 1808.140607; finalDepth = 1806.296603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4611 # Actual altitude: 50.4611 # Commanded vehicle depth:1806.296603 # Seafloor depth:-1856.757703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1858.140607 meters looking forward 100.000000 meters along route # Maximum depth: 1860.505668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.140607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703222; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1810.163243; finalDepth = 1808.140607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4611 # Actual altitude: 50.4611 # Commanded vehicle depth:1808.140607 # Seafloor depth:-1858.140607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1860.163243 meters looking forward 100.000000 meters along route # Maximum depth: 1862.164310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.163243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702863; longitude = -122.104721; captureRadius = 10; duration = 84; initialDepth = 1812.049716; finalDepth = 1810.163243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4535100000001 # Actual altitude: 50.4535100000001 # Commanded vehicle depth:1810.163243 # Seafloor depth:-1860.616753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1862.049716 meters looking forward 100.000000 meters along route # Maximum depth: 1865.154419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.049716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702503; longitude = -122.105505; captureRadius = 10; duration = 84; initialDepth = 1814.734269; finalDepth = 1812.049716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4535100000001 # Actual altitude: 50.4535100000001 # Commanded vehicle depth:1812.049716 # Seafloor depth:-1862.235137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1864.734269 meters looking forward 100.000000 meters along route # Maximum depth: 1869.668946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.734269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702143; longitude = -122.106290; captureRadius = 10; duration = 84; initialDepth = 1819.576770; finalDepth = 1814.734269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.54243 # Actual altitude: 50.54243 # Commanded vehicle depth:1814.734269 # Seafloor depth:-1865.276699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1869.576770 meters looking forward 100.000000 meters along route # Maximum depth: 1871.164624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.576770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701784; longitude = -122.107074; captureRadius = 10; duration = 84; initialDepth = 1820.764643; finalDepth = 1819.576770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.54243 # Actual altitude: 50.54243 # Commanded vehicle depth:1819.57677 # Seafloor depth:-1869.677086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1870.764643 meters looking forward 100.000000 meters along route # Maximum depth: 1873.201716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.764643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701424; longitude = -122.107858; captureRadius = 10; duration = 84; initialDepth = 1823.009288; finalDepth = 1820.764643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4828440000001 # Actual altitude: 50.4828440000001 # Commanded vehicle depth:1820.764643 # Seafloor depth:-1871.247487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1873.009288 meters looking forward 100.000000 meters along route # Maximum depth: 1873.632227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.009288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701064; longitude = -122.108642; captureRadius = 10; duration = 84; initialDepth = 1822.977831; finalDepth = 1823.009288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4828440000001 # Actual altitude: 50.4828440000001 # Commanded vehicle depth:1823.009288 # Seafloor depth:-1873.191581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1872.977831 meters looking forward 100.000000 meters along route # Maximum depth: 1874.532404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.977831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700705; longitude = -122.109426; captureRadius = 10; duration = 84; initialDepth = 1821.988258; finalDepth = 1822.977831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1822930000001 # Actual altitude: 50.1822930000001 # Commanded vehicle depth:1822.977831 # Seafloor depth:-1873.019058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1871.988258 meters looking forward 100.000000 meters along route # Maximum depth: 1873.484660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.988258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700345; longitude = -122.110211; captureRadius = 10; duration = 84; initialDepth = 1822.413992; finalDepth = 1821.988258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9093949999999 # Actual altitude: 50.9093949999999 # Commanded vehicle depth:1821.988258 # Seafloor depth:-1872.897653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1872.413992 meters looking forward 100.000000 meters along route # Maximum depth: 1875.321467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.413992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699985; longitude = -122.110995; captureRadius = 10; duration = 84; initialDepth = 1822.075494; finalDepth = 1822.413992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9093949999999 # Actual altitude: 50.9093949999999 # Commanded vehicle depth:1822.413992 # Seafloor depth:-1872.805273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1872.075494 meters looking forward 100.000000 meters along route # Maximum depth: 1875.150547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.075494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699626; longitude = -122.111779; captureRadius = 10; duration = 84; initialDepth = 1823.049300; finalDepth = 1822.075494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6116400000001 # Actual altitude: 52.6116400000001 # Commanded vehicle depth:1822.075494 # Seafloor depth:-1874.687134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.671703 meters # Minimum depth: 1873.049300 meters looking forward 100.000000 meters along route # Maximum depth: 1875.647016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.049300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699266; longitude = -122.112563; captureRadius = 10; duration = 84; initialDepth = 1824.388947; finalDepth = 1823.049300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6116400000001 # Actual altitude: 52.6116400000001 # Commanded vehicle depth:1823.0493 # Seafloor depth:-1874.079493 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 84.671703 meters # Minimum depth: 1874.388947 meters looking forward 100.000000 meters along route # Maximum depth: 1875.782340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.388947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698881; longitude = -122.113403; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1825.782340; finalDepth = 1824.388947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0301930000001 # Actual altitude: 51.0301930000001 # Commanded vehicle depth:1824.388947 # Seafloor depth:-1874.388947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 84.671703 meters # Minimum depth: 1875.782340 meters looking forward 100.000000 meters along route # Maximum depth: 1877.398146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.782340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.113323; captureRadius = 10; duration = 84; initialDepth = 1827.193759; finalDepth = 1825.782340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50.039184 # Actual altitude: 50.039184 # Commanded vehicle depth:1825.78234 # Seafloor depth:-1875.821524 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 84.671703 meters # Minimum depth: 1877.193759 meters looking forward 100.000000 meters along route # Maximum depth: 1886.886451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.193759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.113254; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1834.306438; finalDepth = 1827.193759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9157379999999 # Actual altitude: 50.9157379999999 # Commanded vehicle depth:1827.193759 # Seafloor depth:-1878.109497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1884.306438 meters looking forward 100.000000 meters along route # Maximum depth: 1892.081107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.306438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697741; longitude = -122.112227; captureRadius = 10; duration = 84; initialDepth = 1835.865911; finalDepth = 1834.306438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.623531 # Actual altitude: 52.623531 # Commanded vehicle depth:1834.306438 # Seafloor depth:-1886.929969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1885.865911 meters looking forward 100.000000 meters along route # Maximum depth: 1892.081107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.865911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698100; longitude = -122.111479; captureRadius = 10; duration = 84; initialDepth = 1834.435310; finalDepth = 1835.865911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.984796 # Actual altitude: 55.984796 # Commanded vehicle depth:1835.865911 # Seafloor depth:-1891.850707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1884.435310 meters looking forward 100.000000 meters along route # Maximum depth: 1886.784254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.435310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.110727; captureRadius = 10; duration = 84; initialDepth = 1832.785866; finalDepth = 1834.435310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.984796 # Actual altitude: 55.984796 # Commanded vehicle depth:1834.43531 # Seafloor depth:-1885.702392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1882.785866 meters looking forward 100.000000 meters along route # Maximum depth: 1885.252901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.785866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.109974; captureRadius = 10; duration = 84; initialDepth = 1831.918256; finalDepth = 1832.785866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5971400000001 # Actual altitude: 51.5971400000001 # Commanded vehicle depth:1832.785866 # Seafloor depth:-1884.383006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1881.918256 meters looking forward 100.000000 meters along route # Maximum depth: 1883.278015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.918256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699190; longitude = -122.109202; captureRadius = 10; duration = 84; initialDepth = 1828.303640; finalDepth = 1831.918256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5971400000001 # Actual altitude: 51.5971400000001 # Commanded vehicle depth:1831.918256 # Seafloor depth:-1882.887564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1878.303640 meters looking forward 100.000000 meters along route # Maximum depth: 1882.692325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.303640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.108470; captureRadius = 10; duration = 84; initialDepth = 1824.166441; finalDepth = 1828.303640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.18833 # Actual altitude: 53.18833 # Commanded vehicle depth:1828.30364 # Seafloor depth:-1881.491970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1874.166441 meters looking forward 100.000000 meters along route # Maximum depth: 1878.422098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.166441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.107718; captureRadius = 10; duration = 84; initialDepth = 1823.202485; finalDepth = 1824.166441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1111089999999 # Actual altitude: 54.1111089999999 # Commanded vehicle depth:1824.166441 # Seafloor depth:-1878.277550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1873.202485 meters looking forward 100.000000 meters along route # Maximum depth: 1875.249131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.202485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700264; longitude = -122.106962; captureRadius = 10; duration = 84; initialDepth = 1819.110685; finalDepth = 1823.202485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1111089999999 # Actual altitude: 54.1111089999999 # Commanded vehicle depth:1823.202485 # Seafloor depth:-1874.151760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1869.110685 meters looking forward 100.000000 meters along route # Maximum depth: 1873.660918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.110685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.106213; captureRadius = 10; duration = 84; initialDepth = 1816.663231; finalDepth = 1819.110685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6007969999998 # Actual altitude: 53.6007969999998 # Commanded vehicle depth:1819.110685 # Seafloor depth:-1872.711482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1866.663231 meters looking forward 100.000000 meters along route # Maximum depth: 1869.591807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.663231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.105461; captureRadius = 10; duration = 84; initialDepth = 1812.969248; finalDepth = 1816.663231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6007969999998 # Actual altitude: 53.6007969999998 # Commanded vehicle depth:1816.663231 # Seafloor depth:-1868.969995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1862.969248 meters looking forward 100.000000 meters along route # Maximum depth: 1866.933532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.969248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.104709; captureRadius = 10; duration = 84; initialDepth = 1811.835298; finalDepth = 1812.969248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6718879999999 # Actual altitude: 53.6718879999999 # Commanded vehicle depth:1812.969248 # Seafloor depth:-1866.641136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1861.835298 meters looking forward 100.000000 meters along route # Maximum depth: 1864.362421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.835298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701714; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1810.849753; finalDepth = 1811.835298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6718879999999 # Actual altitude: 53.6718879999999 # Commanded vehicle depth:1811.835298 # Seafloor depth:-1862.842050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1860.849753 meters looking forward 100.000000 meters along route # Maximum depth: 1862.068263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.849753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.103204; captureRadius = 10; duration = 84; initialDepth = 1808.384233; finalDepth = 1810.849753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.006752 # Actual altitude: 51.006752 # Commanded vehicle depth:1810.849753 # Seafloor depth:-1861.726554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1858.384233 meters looking forward 100.000000 meters along route # Maximum depth: 1860.999645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.384233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.102452; captureRadius = 10; duration = 84; initialDepth = 1808.384233; finalDepth = 1808.384233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4266889999999 # Actual altitude: 52.4266889999999 # Commanded vehicle depth:1808.384233 # Seafloor depth:-1860.810922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1858.384233 meters looking forward 100.000000 meters along route # Maximum depth: 1859.896247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.384233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702787; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1803.583468; finalDepth = 1808.384233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4266889999999 # Actual altitude: 52.4266889999999 # Commanded vehicle depth:1808.384233 # Seafloor depth:-1858.386207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1853.583468 meters looking forward 100.000000 meters along route # Maximum depth: 1859.647449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.583468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.100947; captureRadius = 10; duration = 84; initialDepth = 1803.314099; finalDepth = 1803.583468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9500329999998 # Actual altitude: 54.9500329999998 # Commanded vehicle depth:1803.583468 # Seafloor depth:-1858.533501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1853.314099 meters looking forward 100.000000 meters along route # Maximum depth: 1854.979752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.314099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.100195; captureRadius = 10; duration = 84; initialDepth = 1799.301019; finalDepth = 1803.314099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9500329999998 # Actual altitude: 54.9500329999998 # Commanded vehicle depth:1803.314099 # Seafloor depth:-1853.468188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1849.301019 meters looking forward 100.000000 meters along route # Maximum depth: 1854.979752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.301019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.099443; captureRadius = 10; duration = 84; initialDepth = 1797.878399; finalDepth = 1799.301019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6376190000001 # Actual altitude: 55.6376190000001 # Commanded vehicle depth:1799.301019 # Seafloor depth:-1854.938638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1847.878399 meters looking forward 100.000000 meters along route # Maximum depth: 1850.317167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.878399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704237; longitude = -122.098672; captureRadius = 10; duration = 84; initialDepth = 1791.738546; finalDepth = 1797.878399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6376190000001 # Actual altitude: 55.6376190000001 # Commanded vehicle depth:1797.878399 # Seafloor depth:-1849.217665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1841.738546 meters looking forward 100.000000 meters along route # Maximum depth: 1848.341844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.738546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704588; longitude = -122.097938; captureRadius = 10; duration = 84; initialDepth = 1785.940163; finalDepth = 1791.738546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.749456 # Actual altitude: 55.749456 # Commanded vehicle depth:1791.738546 # Seafloor depth:-1847.488002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1835.940163 meters looking forward 100.000000 meters along route # Maximum depth: 1842.099327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.940163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704948; longitude = -122.097186; captureRadius = 10; duration = 84; initialDepth = 1785.400510; finalDepth = 1785.940163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8349860000001 # Actual altitude: 55.8349860000001 # Commanded vehicle depth:1785.940163 # Seafloor depth:-1841.775149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1835.400510 meters looking forward 100.000000 meters along route # Maximum depth: 1838.572182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.400510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705310; longitude = -122.096431; captureRadius = 10; duration = 84; initialDepth = 1784.987688; finalDepth = 1785.400510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8349860000001 # Actual altitude: 55.8349860000001 # Commanded vehicle depth:1785.40051 # Seafloor depth:-1835.909997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1834.987688 meters looking forward 100.000000 meters along route # Maximum depth: 1836.658647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.987688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.095682; captureRadius = 10; duration = 84; initialDepth = 1777.700079; finalDepth = 1784.987688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.313615 # Actual altitude: 51.313615 # Commanded vehicle depth:1784.987688 # Seafloor depth:-1836.301303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1827.700079 meters looking forward 100.000000 meters along route # Maximum depth: 1835.900112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.700079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.094929; captureRadius = 10; duration = 84; initialDepth = 1772.318523; finalDepth = 1777.700079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6277729999999 # Actual altitude: 56.6277729999999 # Commanded vehicle depth:1777.700079 # Seafloor depth:-1834.327852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1822.318523 meters looking forward 100.000000 meters along route # Maximum depth: 1828.462995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.318523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706390; longitude = -122.094177; captureRadius = 10; duration = 84; initialDepth = 1764.368244; finalDepth = 1772.318523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6277729999999 # Actual altitude: 56.6277729999999 # Commanded vehicle depth:1772.318523 # Seafloor depth:-1828.367899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1814.368244 meters looking forward 100.000000 meters along route # Maximum depth: 1823.772167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.368244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706760; longitude = -122.093406; captureRadius = 10; duration = 84; initialDepth = 1756.353833; finalDepth = 1764.368244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.703512 # Actual altitude: 57.703512 # Commanded vehicle depth:1764.368244 # Seafloor depth:-1822.071756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 84.671703 meters # Minimum depth: 1806.353833 meters looking forward 100.000000 meters along route # Maximum depth: 1817.273950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.353833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707135; longitude = -122.092622; captureRadius = 10; duration = 84; initialDepth = 1755.142395; finalDepth = 1756.353833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.703512 # Actual altitude: 57.703512 # Commanded vehicle depth:1756.353833 # Seafloor depth:-1813.395001 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.81; 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 84.671703 meters # Minimum depth: 1805.142395 meters looking forward 100.000000 meters along route # Maximum depth: 1813.632058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.142395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707488; longitude = -122.091886; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1763.451060; finalDepth = 1755.142395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0411680000002 # Actual altitude: 57.0411680000002 # Commanded vehicle depth:1755.142395 # Seafloor depth:-1805.142395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 84.671703 meters # Minimum depth: 1813.451060 meters looking forward 100.000000 meters along route # Maximum depth: 1814.306143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.451060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706959; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1763.188965; finalDepth = 1763.451060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50.31567 # Actual altitude: 50.31567 # Commanded vehicle depth:1763.45106 # Seafloor depth:-1813.766730 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 84.671703 meters # Minimum depth: 1813.188965 meters looking forward 100.000000 meters along route # Maximum depth: 1822.477714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.188965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706597; longitude = -122.090105; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1771.924150; finalDepth = 1763.188965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.31567 # Actual altitude: 50.31567 # Commanded vehicle depth:1763.188965 # Seafloor depth:-1813.188965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1821.924150 meters looking forward 100.000000 meters along route # Maximum depth: 1826.414553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.924150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706030; longitude = -122.091311; captureRadius = 10; duration = 84; initialDepth = 1775.432083; finalDepth = 1771.924150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7199069999999 # Actual altitude: 50.7199069999999 # Commanded vehicle depth:1771.92415 # Seafloor depth:-1822.644057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1825.432083 meters looking forward 100.000000 meters along route # Maximum depth: 1830.125680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.432083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.092077; captureRadius = 10; duration = 84; initialDepth = 1779.821353; finalDepth = 1775.432083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.021017 # Actual altitude: 51.021017 # Commanded vehicle depth:1775.432083 # Seafloor depth:-1826.453100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1829.821353 meters looking forward 100.000000 meters along route # Maximum depth: 1832.356431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.821353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705307; longitude = -122.092846; captureRadius = 10; duration = 84; initialDepth = 1781.870661; finalDepth = 1779.821353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.021017 # Actual altitude: 51.021017 # Commanded vehicle depth:1779.821353 # Seafloor depth:-1830.130946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1831.870661 meters looking forward 100.000000 meters along route # Maximum depth: 1835.896173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.870661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704938; longitude = -122.093630; captureRadius = 10; duration = 84; initialDepth = 1785.144035; finalDepth = 1781.870661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.608442 # Actual altitude: 50.608442 # Commanded vehicle depth:1781.870661 # Seafloor depth:-1832.479103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1835.144035 meters looking forward 100.000000 meters along route # Maximum depth: 1839.597962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.144035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704569; longitude = -122.094414; captureRadius = 10; duration = 84; initialDepth = 1788.658880; finalDepth = 1785.144035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8637550000001 # Actual altitude: 50.8637550000001 # Commanded vehicle depth:1785.144035 # Seafloor depth:-1836.007790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1838.658880 meters looking forward 100.000000 meters along route # Maximum depth: 1845.214439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.658880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.095141; captureRadius = 10; duration = 84; initialDepth = 1793.551231; finalDepth = 1788.658880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1909929999999 # Actual altitude: 51.1909929999999 # Commanded vehicle depth:1788.65888 # Seafloor depth:-1839.849873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1843.551231 meters looking forward 100.000000 meters along route # Maximum depth: 1848.606239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.551231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703867; longitude = -122.095907; captureRadius = 10; duration = 84; initialDepth = 1798.192612; finalDepth = 1793.551231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9170040000001 # Actual altitude: 51.9170040000001 # Commanded vehicle depth:1793.551231 # Seafloor depth:-1845.468235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1848.192612 meters looking forward 100.000000 meters along route # Maximum depth: 1849.505284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.192612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.096673; captureRadius = 10; duration = 84; initialDepth = 1799.495227; finalDepth = 1798.192612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9170040000001 # Actual altitude: 51.9170040000001 # Commanded vehicle depth:1798.192612 # Seafloor depth:-1848.615257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1849.495227 meters looking forward 100.000000 meters along route # Maximum depth: 1853.377264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.495227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.097439; captureRadius = 10; duration = 84; initialDepth = 1802.691652; finalDepth = 1799.495227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4226449999999 # Actual altitude: 50.4226449999999 # Commanded vehicle depth:1799.495227 # Seafloor depth:-1849.495227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1852.691652 meters looking forward 100.000000 meters along route # Maximum depth: 1855.214432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.691652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702777; longitude = -122.098223; captureRadius = 10; duration = 84; initialDepth = 1804.899089; finalDepth = 1802.691652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8095519999999 # Actual altitude: 50.8095519999999 # Commanded vehicle depth:1802.691652 # Seafloor depth:-1853.501204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1854.899089 meters looking forward 100.000000 meters along route # Maximum depth: 1856.131799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.899089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702408; longitude = -122.099008; captureRadius = 10; duration = 84; initialDepth = 1805.877596; finalDepth = 1804.899089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8095519999999 # Actual altitude: 50.8095519999999 # Commanded vehicle depth:1804.899089 # Seafloor depth:-1854.951935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1855.877596 meters looking forward 100.000000 meters along route # Maximum depth: 1860.120915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.877596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.099736; captureRadius = 10; duration = 84; initialDepth = 1809.005644; finalDepth = 1805.877596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.362167 # Actual altitude: 50.362167 # Commanded vehicle depth:1805.877596 # Seafloor depth:-1856.239763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1859.005644 meters looking forward 100.000000 meters along route # Maximum depth: 1861.218841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.005644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.100502; captureRadius = 10; duration = 84; initialDepth = 1810.606279; finalDepth = 1809.005644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2689149999999 # Actual altitude: 51.2689149999999 # Commanded vehicle depth:1809.005644 # Seafloor depth:-1860.274559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1860.606279 meters looking forward 100.000000 meters along route # Maximum depth: 1862.579218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.606279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.101268; captureRadius = 10; duration = 84; initialDepth = 1812.207672; finalDepth = 1810.606279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2689149999999 # Actual altitude: 51.2689149999999 # Commanded vehicle depth:1810.606279 # Seafloor depth:-1861.323064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1862.207672 meters looking forward 100.000000 meters along route # Maximum depth: 1865.295505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.207672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.102034; captureRadius = 10; duration = 84; initialDepth = 1814.612650; finalDepth = 1812.207672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7167849999998 # Actual altitude: 50.7167849999998 # Commanded vehicle depth:1812.207672 # Seafloor depth:-1862.372449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1864.612650 meters looking forward 100.000000 meters along route # Maximum depth: 1866.382921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.612650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700615; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1815.936445; finalDepth = 1814.612650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7898599999999 # Actual altitude: 50.7898599999999 # Commanded vehicle depth:1814.61265 # Seafloor depth:-1865.402510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1865.936445 meters looking forward 100.000000 meters along route # Maximum depth: 1870.963712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.936445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700246; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1820.657188; finalDepth = 1815.936445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7898599999999 # Actual altitude: 50.7898599999999 # Commanded vehicle depth:1815.936445 # Seafloor depth:-1866.560959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1870.657188 meters looking forward 100.000000 meters along route # Maximum depth: 1873.107365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.657188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.104332; captureRadius = 10; duration = 84; initialDepth = 1822.407931; finalDepth = 1820.657188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6245139999999 # Actual altitude: 50.6245139999999 # Commanded vehicle depth:1820.657188 # Seafloor depth:-1871.079660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1872.407931 meters looking forward 100.000000 meters along route # Maximum depth: 1875.052933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.407931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.105098; captureRadius = 10; duration = 84; initialDepth = 1825.009617; finalDepth = 1822.407931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9129500000001 # Actual altitude: 50.9129500000001 # Commanded vehicle depth:1822.407931 # Seafloor depth:-1873.320881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1875.009617 meters looking forward 100.000000 meters along route # Maximum depth: 1879.578738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.009617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.105864; captureRadius = 10; duration = 84; initialDepth = 1828.831125; finalDepth = 1825.009617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9129500000001 # Actual altitude: 50.9129500000001 # Commanded vehicle depth:1825.009617 # Seafloor depth:-1875.078200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1878.831125 meters looking forward 100.000000 meters along route # Maximum depth: 1881.656043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.831125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.106630; captureRadius = 10; duration = 84; initialDepth = 1831.443734; finalDepth = 1828.831125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.778221 # Actual altitude: 50.778221 # Commanded vehicle depth:1828.831125 # Seafloor depth:-1879.609346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1881.443734 meters looking forward 100.000000 meters along route # Maximum depth: 1886.444484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.443734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698454; longitude = -122.107410; captureRadius = 10; duration = 84; initialDepth = 1834.889665; finalDepth = 1831.443734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.778221 # Actual altitude: 50.778221 # Commanded vehicle depth:1831.443734 # Seafloor depth:-1881.698179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1884.889665 meters looking forward 100.000000 meters along route # Maximum depth: 1890.516196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.889665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698085; longitude = -122.108194; captureRadius = 10; duration = 84; initialDepth = 1840.081118; finalDepth = 1834.889665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.852991 # Actual altitude: 51.852991 # Commanded vehicle depth:1834.889665 # Seafloor depth:-1886.742656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1890.081118 meters looking forward 100.000000 meters along route # Maximum depth: 1892.261638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.081118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.108928; captureRadius = 10; duration = 84; initialDepth = 1841.537719; finalDepth = 1840.081118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.852991 # Actual altitude: 51.852991 # Commanded vehicle depth:1840.081118 # Seafloor depth:-1890.344272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1891.537719 meters looking forward 100.000000 meters along route # Maximum depth: 1893.597414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.537719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.109694; captureRadius = 10; duration = 84; initialDepth = 1843.227590; finalDepth = 1841.537719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9137310000001 # Actual altitude: 50.9137310000001 # Commanded vehicle depth:1841.537719 # Seafloor depth:-1892.451450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1893.227590 meters looking forward 100.000000 meters along route # Maximum depth: 1897.339885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.227590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.110460; captureRadius = 10; duration = 84; initialDepth = 1844.483221; finalDepth = 1843.227590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9137310000001 # Actual altitude: 50.9137310000001 # Commanded vehicle depth:1843.22759 # Seafloor depth:-1893.723631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1894.483221 meters looking forward 100.000000 meters along route # Maximum depth: 1897.306838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.483221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.111226; captureRadius = 10; duration = 84; initialDepth = 1840.840036; finalDepth = 1844.483221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1617060000001 # Actual altitude: 52.1617060000001 # Commanded vehicle depth:1844.483221 # Seafloor depth:-1896.644927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.671703 meters # Minimum depth: 1890.840036 meters looking forward 100.000000 meters along route # Maximum depth: 1896.292381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.840036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696292; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1822.014000; finalDepth = 1840.840036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0824239999999 # Actual altitude: 55.0824239999999 # Commanded vehicle depth:1840.840036 # Seafloor depth:-1895.922460 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 84.671703 meters # Minimum depth: 1872.014000 meters looking forward 100.000000 meters along route # Maximum depth: 1891.648675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.014000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.112809; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1818.786689; finalDepth = 1822.014000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9302750000002 # Actual altitude: 66.9302750000002 # Commanded vehicle depth:1822.014 # Seafloor depth:-1888.944275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 267.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 84.671703 meters # Minimum depth: 1868.786689 meters looking forward 100.000000 meters along route # Maximum depth: 1887.130858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.786689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.112651; captureRadius = 10; duration = 84; initialDepth = 1833.135121; finalDepth = 1818.786689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 66.9302750000002 # Actual altitude: 66.9302750000002 # Commanded vehicle depth:1818.786689 # Seafloor depth:-1869.771378 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 267.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 84.671703 meters # Minimum depth: 1883.135121 meters looking forward 100.000000 meters along route # Maximum depth: 1900.579099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.135121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694429; longitude = -122.112512; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1848.021885; finalDepth = 1833.135121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7899279999999 # Actual altitude: 55.7899279999999 # Commanded vehicle depth:1833.135121 # Seafloor depth:-1888.925049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1898.021885 meters looking forward 100.000000 meters along route # Maximum depth: 1904.761390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.021885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.111814; captureRadius = 10; duration = 84; initialDepth = 1852.005724; finalDepth = 1848.021885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7899279999999 # Actual altitude: 55.7899279999999 # Commanded vehicle depth:1848.021885 # Seafloor depth:-1901.825423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1902.005724 meters looking forward 100.000000 meters along route # Maximum depth: 1904.761390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.005724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.111065; captureRadius = 10; duration = 84; initialDepth = 1848.985972; finalDepth = 1852.005724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8035379999999 # Actual altitude: 53.8035379999999 # Commanded vehicle depth:1852.005724 # Seafloor depth:-1904.159204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1898.985972 meters looking forward 100.000000 meters along route # Maximum depth: 1902.033300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.985972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695486; longitude = -122.110316; captureRadius = 10; duration = 84; initialDepth = 1844.202184; finalDepth = 1848.985972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.029362 # Actual altitude: 53.029362 # Commanded vehicle depth:1848.985972 # Seafloor depth:-1902.015334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1894.202184 meters looking forward 100.000000 meters along route # Maximum depth: 1899.725044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.202184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.109568; captureRadius = 10; duration = 84; initialDepth = 1841.166409; finalDepth = 1844.202184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2249870000001 # Actual altitude: 54.2249870000001 # Commanded vehicle depth:1844.202184 # Seafloor depth:-1898.427171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1891.166409 meters looking forward 100.000000 meters along route # Maximum depth: 1894.341868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.166409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.108819; captureRadius = 10; duration = 84; initialDepth = 1839.786751; finalDepth = 1841.166409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2249870000001 # Actual altitude: 54.2249870000001 # Commanded vehicle depth:1841.166409 # Seafloor depth:-1894.177157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1889.786751 meters looking forward 100.000000 meters along route # Maximum depth: 1892.011543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.786751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.108071; captureRadius = 10; duration = 84; initialDepth = 1836.326501; finalDepth = 1839.786751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0107480000001 # Actual altitude: 53.0107480000001 # Commanded vehicle depth:1839.786751 # Seafloor depth:-1891.133485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1886.326501 meters looking forward 100.000000 meters along route # Maximum depth: 1890.494377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.326501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696940; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1832.855152; finalDepth = 1836.326501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3412289999999 # Actual altitude: 53.3412289999999 # Commanded vehicle depth:1836.326501 # Seafloor depth:-1889.667730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1882.855152 meters looking forward 100.000000 meters along route # Maximum depth: 1886.960046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.855152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.106573; captureRadius = 10; duration = 84; initialDepth = 1830.175567; finalDepth = 1832.855152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3412289999999 # Actual altitude: 53.3412289999999 # Commanded vehicle depth:1832.855152 # Seafloor depth:-1886.088968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1880.175567 meters looking forward 100.000000 meters along route # Maximum depth: 1883.401607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.175567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.105825; captureRadius = 10; duration = 84; initialDepth = 1825.926365; finalDepth = 1830.175567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2338159999999 # Actual altitude: 53.2338159999999 # Commanded vehicle depth:1830.175567 # Seafloor depth:-1882.810072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1875.926365 meters looking forward 100.000000 meters along route # Maximum depth: 1881.184747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.926365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698019; longitude = -122.105057; captureRadius = 10; duration = 84; initialDepth = 1823.831161; finalDepth = 1825.926365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1426489999999 # Actual altitude: 54.1426489999999 # Commanded vehicle depth:1825.926365 # Seafloor depth:-1880.069014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1873.831161 meters looking forward 100.000000 meters along route # Maximum depth: 1876.753510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.831161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.104327; captureRadius = 10; duration = 84; initialDepth = 1821.596517; finalDepth = 1823.831161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1426489999999 # Actual altitude: 54.1426489999999 # Commanded vehicle depth:1823.831161 # Seafloor depth:-1875.534948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1871.596517 meters looking forward 100.000000 meters along route # Maximum depth: 1873.953859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.596517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.103579; captureRadius = 10; duration = 84; initialDepth = 1819.090891; finalDepth = 1821.596517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353257 # Actual altitude: 52.353257 # Commanded vehicle depth:1821.596517 # Seafloor depth:-1873.949774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1869.090891 meters looking forward 100.000000 meters along route # Maximum depth: 1872.692479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.090891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699097; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1815.378468; finalDepth = 1819.090891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4436029999999 # Actual altitude: 52.4436029999999 # Commanded vehicle depth:1819.090891 # Seafloor depth:-1871.534494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1865.378468 meters looking forward 100.000000 meters along route # Maximum depth: 1869.848598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.378468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699451; longitude = -122.102082; captureRadius = 10; duration = 84; initialDepth = 1812.667567; finalDepth = 1815.378468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3086409999999 # Actual altitude: 53.3086409999999 # Commanded vehicle depth:1815.378468 # Seafloor depth:-1868.687109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1862.667567 meters looking forward 100.000000 meters along route # Maximum depth: 1865.932597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.667567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699812; longitude = -122.101333; captureRadius = 10; duration = 84; initialDepth = 1810.931749; finalDepth = 1812.667567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3086409999999 # Actual altitude: 53.3086409999999 # Commanded vehicle depth:1812.667567 # Seafloor depth:-1865.310544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1860.931749 meters looking forward 100.000000 meters along route # Maximum depth: 1863.411478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.931749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700176; longitude = -122.100576; captureRadius = 10; duration = 84; initialDepth = 1808.289376; finalDepth = 1810.931749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.642977 # Actual altitude: 52.642977 # Commanded vehicle depth:1810.931749 # Seafloor depth:-1862.640085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1858.289376 meters looking forward 100.000000 meters along route # Maximum depth: 1861.607282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.289376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700533; longitude = -122.099836; captureRadius = 10; duration = 84; initialDepth = 1805.046668; finalDepth = 1808.289376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2048770000001 # Actual altitude: 52.2048770000001 # Commanded vehicle depth:1808.289376 # Seafloor depth:-1860.494253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1855.046668 meters looking forward 100.000000 meters along route # Maximum depth: 1858.496046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.046668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700893; longitude = -122.099087; captureRadius = 10; duration = 84; initialDepth = 1802.198064; finalDepth = 1805.046668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2009290000001 # Actual altitude: 53.2009290000001 # Commanded vehicle depth:1805.046668 # Seafloor depth:-1858.247597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1852.198064 meters looking forward 100.000000 meters along route # Maximum depth: 1856.839312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.198064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701255; longitude = -122.098335; captureRadius = 10; duration = 84; initialDepth = 1799.298151; finalDepth = 1802.198064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2009290000001 # Actual altitude: 53.2009290000001 # Commanded vehicle depth:1802.198064 # Seafloor depth:-1855.013164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1849.298151 meters looking forward 100.000000 meters along route # Maximum depth: 1852.252534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.298151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701614; longitude = -122.097590; captureRadius = 10; duration = 84; initialDepth = 1795.951125; finalDepth = 1799.298151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9247780000001 # Actual altitude: 52.9247780000001 # Commanded vehicle depth:1799.298151 # Seafloor depth:-1852.222929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1845.951125 meters looking forward 100.000000 meters along route # Maximum depth: 1850.140365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.951125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701975; longitude = -122.096841; captureRadius = 10; duration = 84; initialDepth = 1793.740815; finalDepth = 1795.951125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.219055 # Actual altitude: 53.219055 # Commanded vehicle depth:1795.951125 # Seafloor depth:-1849.170180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1843.740815 meters looking forward 100.000000 meters along route # Maximum depth: 1846.960137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.740815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.096093; captureRadius = 10; duration = 84; initialDepth = 1790.406418; finalDepth = 1793.740815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.219055 # Actual altitude: 53.219055 # Commanded vehicle depth:1793.740815 # Seafloor depth:-1845.940294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1840.406418 meters looking forward 100.000000 meters along route # Maximum depth: 1843.963417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.406418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.095344; captureRadius = 10; duration = 84; initialDepth = 1786.146695; finalDepth = 1790.406418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1658210000001 # Actual altitude: 53.1658210000001 # Commanded vehicle depth:1790.406418 # Seafloor depth:-1843.572239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1836.146695 meters looking forward 100.000000 meters along route # Maximum depth: 1841.143791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.146695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.094596; captureRadius = 10; duration = 84; initialDepth = 1784.167213; finalDepth = 1786.146695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0948760000001 # Actual altitude: 54.0948760000001 # Commanded vehicle depth:1786.146695 # Seafloor depth:-1840.241571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1834.167213 meters looking forward 100.000000 meters along route # Maximum depth: 1837.549264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.167213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.093847; captureRadius = 10; duration = 84; initialDepth = 1782.351306; finalDepth = 1784.167213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0948760000001 # Actual altitude: 54.0948760000001 # Commanded vehicle depth:1784.167213 # Seafloor depth:-1836.409018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1832.351306 meters looking forward 100.000000 meters along route # Maximum depth: 1835.160761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.351306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703777; longitude = -122.093098; captureRadius = 10; duration = 84; initialDepth = 1779.211779; finalDepth = 1782.351306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2418050000001 # Actual altitude: 52.2418050000001 # Commanded vehicle depth:1782.351306 # Seafloor depth:-1833.789677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1829.211779 meters looking forward 100.000000 meters along route # Maximum depth: 1832.642152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.211779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704137; longitude = -122.092350; captureRadius = 10; duration = 84; initialDepth = 1774.476169; finalDepth = 1779.211779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.042886 # Actual altitude: 53.042886 # Commanded vehicle depth:1779.211779 # Seafloor depth:-1832.254665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1824.476169 meters looking forward 100.000000 meters along route # Maximum depth: 1830.313060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.476169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704498; longitude = -122.091601; captureRadius = 10; duration = 84; initialDepth = 1769.896131; finalDepth = 1774.476169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6373369999999 # Actual altitude: 54.6373369999999 # Commanded vehicle depth:1774.476169 # Seafloor depth:-1829.113506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1819.896131 meters looking forward 100.000000 meters along route # Maximum depth: 1825.350636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.896131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704869; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1767.415901; finalDepth = 1769.896131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6373369999999 # Actual altitude: 54.6373369999999 # Commanded vehicle depth:1769.896131 # Seafloor depth:-1824.272097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1817.415901 meters looking forward 100.000000 meters along route # Maximum depth: 1820.256753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.415901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705247; longitude = -122.090045; captureRadius = 10; duration = 84; initialDepth = 1762.510707; finalDepth = 1767.415901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3759660000001 # Actual altitude: 54.3759660000001 # Commanded vehicle depth:1767.415901 # Seafloor depth:-1819.532036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.671703 meters # Minimum depth: 1812.510707 meters looking forward 100.000000 meters along route # Maximum depth: 1817.438774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.510707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705625; longitude = -122.089261; captureRadius = 10; duration = 84; initialDepth = 1759.939154; finalDepth = 1762.510707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.699298 # Actual altitude: 54.699298 # Commanded vehicle depth:1762.510707 # Seafloor depth:-1817.210005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 84.671703 meters # Minimum depth: 1809.939154 meters looking forward 100.000000 meters along route # Maximum depth: 1812.308228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.939154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706004; longitude = -122.088473; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1757.991583; finalDepth = 1759.939154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.699298 # Actual altitude: 54.699298 # Commanded vehicle depth:1759.939154 # Seafloor depth:-1812.308228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 84.671703 meters # Minimum depth: 1807.991583 meters looking forward 100.000000 meters along route # Maximum depth: 1811.273377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.991583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705575; longitude = -122.087357; captureRadius = 10; duration = 84; initialDepth = 1757.812683; finalDepth = 1757.991583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 53.049008 # Actual altitude: 53.049008 # Commanded vehicle depth:1757.991583 # Seafloor depth:-1811.040591 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 84.671703 meters # Minimum depth: 1807.812683 meters looking forward 100.000000 meters along route # Maximum depth: 1813.645664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.812683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705262; longitude = -122.086543; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1763.542581; finalDepth = 1757.812683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.049008 # Actual altitude: 53.049008 # Commanded vehicle depth:1757.812683 # Seafloor depth:-1807.812683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1813.542581 meters looking forward 100.000000 meters along route # Maximum depth: 1818.385363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.542581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704678; longitude = -122.087768; captureRadius = 10; duration = 84; initialDepth = 1767.948611; finalDepth = 1763.542581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4193360000002 # Actual altitude: 50.4193360000002 # Commanded vehicle depth:1763.542581 # Seafloor depth:-1813.961917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1817.948611 meters looking forward 100.000000 meters along route # Maximum depth: 1823.167672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.948611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704318; longitude = -122.088524; captureRadius = 10; duration = 84; initialDepth = 1772.994737; finalDepth = 1767.948611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6495379999999 # Actual altitude: 50.6495379999999 # Commanded vehicle depth:1767.948611 # Seafloor depth:-1818.598149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1822.994737 meters looking forward 100.000000 meters along route # Maximum depth: 1826.287300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.994737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703957; longitude = -122.089280; captureRadius = 10; duration = 84; initialDepth = 1775.212103; finalDepth = 1772.994737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6495379999999 # Actual altitude: 50.6495379999999 # Commanded vehicle depth:1772.994737 # Seafloor depth:-1823.169313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1825.212103 meters looking forward 100.000000 meters along route # Maximum depth: 1826.613929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.212103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703592; longitude = -122.090045; captureRadius = 10; duration = 84; initialDepth = 1776.270351; finalDepth = 1775.212103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.108297 # Actual altitude: 51.108297 # Commanded vehicle depth:1775.212103 # Seafloor depth:-1826.320400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1826.270351 meters looking forward 100.000000 meters along route # Maximum depth: 1834.833964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.270351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703236; longitude = -122.090793; captureRadius = 10; duration = 84; initialDepth = 1783.980848; finalDepth = 1776.270351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.108297 # Actual altitude: 51.108297 # Commanded vehicle depth:1776.270351 # Seafloor depth:-1826.987370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1833.980848 meters looking forward 100.000000 meters along route # Maximum depth: 1834.961285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.980848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702876; longitude = -122.091549; captureRadius = 10; duration = 84; initialDepth = 1783.980848; finalDepth = 1783.980848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9804370000002 # Actual altitude: 50.9804370000002 # Commanded vehicle depth:1783.980848 # Seafloor depth:-1834.961285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1833.980848 meters looking forward 100.000000 meters along route # Maximum depth: 1837.238397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.980848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702515; longitude = -122.092305; captureRadius = 10; duration = 84; initialDepth = 1786.690369; finalDepth = 1783.980848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9804370000002 # Actual altitude: 50.9804370000002 # Commanded vehicle depth:1783.980848 # Seafloor depth:-1834.155570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1836.690369 meters looking forward 100.000000 meters along route # Maximum depth: 1841.642903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.690369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702150; longitude = -122.093070; captureRadius = 10; duration = 84; initialDepth = 1790.820005; finalDepth = 1786.690369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5835510000002 # Actual altitude: 50.5835510000002 # Commanded vehicle depth:1786.690369 # Seafloor depth:-1837.273920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1840.820005 meters looking forward 100.000000 meters along route # Maximum depth: 1842.837659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.820005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701794; longitude = -122.093817; captureRadius = 10; duration = 84; initialDepth = 1791.838241; finalDepth = 1790.820005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.252107 # Actual altitude: 51.252107 # Commanded vehicle depth:1790.820005 # Seafloor depth:-1842.072112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1841.838241 meters looking forward 100.000000 meters along route # Maximum depth: 1847.286717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.838241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701434; longitude = -122.094573; captureRadius = 10; duration = 84; initialDepth = 1796.294408; finalDepth = 1791.838241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.379316 # Actual altitude: 51.379316 # Commanded vehicle depth:1791.838241 # Seafloor depth:-1843.217557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1846.294408 meters looking forward 100.000000 meters along route # Maximum depth: 1850.425880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.294408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701073; longitude = -122.095329; captureRadius = 10; duration = 84; initialDepth = 1798.626960; finalDepth = 1796.294408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.379316 # Actual altitude: 51.379316 # Commanded vehicle depth:1796.294408 # Seafloor depth:-1847.379115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1848.626960 meters looking forward 100.000000 meters along route # Maximum depth: 1850.700250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.626960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700708; longitude = -122.096095; captureRadius = 10; duration = 84; initialDepth = 1799.935080; finalDepth = 1798.626960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851866 # Actual altitude: 51.851866 # Commanded vehicle depth:1798.62696 # Seafloor depth:-1850.478826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1849.935080 meters looking forward 100.000000 meters along route # Maximum depth: 1854.459490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.935080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700352; longitude = -122.096841; captureRadius = 10; duration = 84; initialDepth = 1803.243865; finalDepth = 1799.935080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851866 # Actual altitude: 51.851866 # Commanded vehicle depth:1799.93508 # Seafloor depth:-1850.891698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1853.243865 meters looking forward 100.000000 meters along route # Maximum depth: 1856.901256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.243865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699992; longitude = -122.097598; captureRadius = 10; duration = 84; initialDepth = 1806.765433; finalDepth = 1803.243865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.493048 # Actual altitude: 51.493048 # Commanded vehicle depth:1803.243865 # Seafloor depth:-1854.736913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1856.765433 meters looking forward 100.000000 meters along route # Maximum depth: 1859.986180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.765433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699632; longitude = -122.098354; captureRadius = 10; duration = 84; initialDepth = 1809.136965; finalDepth = 1806.765433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.493048 # Actual altitude: 51.493048 # Commanded vehicle depth:1806.765433 # Seafloor depth:-1856.905189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1859.136965 meters looking forward 100.000000 meters along route # Maximum depth: 1863.516759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.136965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699266; longitude = -122.099120; captureRadius = 10; duration = 84; initialDepth = 1812.820255; finalDepth = 1809.136965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8866890000002 # Actual altitude: 50.8866890000002 # Commanded vehicle depth:1809.136965 # Seafloor depth:-1860.023654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1862.820255 meters looking forward 100.000000 meters along route # Maximum depth: 1867.179812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.820255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698911; longitude = -122.099866; captureRadius = 10; duration = 84; initialDepth = 1816.761046; finalDepth = 1812.820255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2248379999999 # Actual altitude: 51.2248379999999 # Commanded vehicle depth:1812.820255 # Seafloor depth:-1864.045093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1866.761046 meters looking forward 100.000000 meters along route # Maximum depth: 1870.276447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.761046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698550; longitude = -122.100622; captureRadius = 10; duration = 84; initialDepth = 1820.039073; finalDepth = 1816.761046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2248379999999 # Actual altitude: 51.2248379999999 # Commanded vehicle depth:1816.761046 # Seafloor depth:-1867.370509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1870.039073 meters looking forward 100.000000 meters along route # Maximum depth: 1873.692249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.039073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698190; longitude = -122.101378; captureRadius = 10; duration = 84; initialDepth = 1822.607244; finalDepth = 1820.039073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.609463 # Actual altitude: 50.609463 # Commanded vehicle depth:1820.039073 # Seafloor depth:-1870.324273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1872.607244 meters looking forward 100.000000 meters along route # Maximum depth: 1875.986162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.607244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697824; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1825.938836; finalDepth = 1822.607244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1473080000001 # Actual altitude: 51.1473080000001 # Commanded vehicle depth:1822.607244 # Seafloor depth:-1873.754552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1875.938836 meters looking forward 100.000000 meters along route # Maximum depth: 1878.590383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.938836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697469; longitude = -122.102890; captureRadius = 10; duration = 84; initialDepth = 1828.098753; finalDepth = 1825.938836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1473080000001 # Actual altitude: 51.1473080000001 # Commanded vehicle depth:1825.938836 # Seafloor depth:-1876.106238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1878.098753 meters looking forward 100.000000 meters along route # Maximum depth: 1880.110561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.098753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697108; longitude = -122.103646; captureRadius = 10; duration = 84; initialDepth = 1829.424598; finalDepth = 1828.098753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.603359 # Actual altitude: 50.603359 # Commanded vehicle depth:1828.098753 # Seafloor depth:-1878.702112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1879.424598 meters looking forward 100.000000 meters along route # Maximum depth: 1883.451322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.424598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696748; longitude = -122.104403; captureRadius = 10; duration = 84; initialDepth = 1832.690974; finalDepth = 1829.424598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.75341 # Actual altitude: 50.75341 # Commanded vehicle depth:1829.424598 # Seafloor depth:-1880.178008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1882.690974 meters looking forward 100.000000 meters along route # Maximum depth: 1885.206570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.690974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696382; longitude = -122.105169; captureRadius = 10; duration = 84; initialDepth = 1834.672365; finalDepth = 1832.690974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.795701 # Actual altitude: 50.795701 # Commanded vehicle depth:1832.690974 # Seafloor depth:-1883.486675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1884.672365 meters looking forward 100.000000 meters along route # Maximum depth: 1888.599750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.672365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696027; longitude = -122.105915; captureRadius = 10; duration = 84; initialDepth = 1838.401428; finalDepth = 1834.672365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9469100000001 # Actual altitude: 50.9469100000001 # Commanded vehicle depth:1834.672365 # Seafloor depth:-1885.619275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1888.401428 meters looking forward 100.000000 meters along route # Maximum depth: 1890.872302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.401428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695666; longitude = -122.106671; captureRadius = 10; duration = 84; initialDepth = 1840.278910; finalDepth = 1838.401428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9469100000001 # Actual altitude: 50.9469100000001 # Commanded vehicle depth:1838.401428 # Seafloor depth:-1888.701106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1890.278910 meters looking forward 100.000000 meters along route # Maximum depth: 1891.796058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.278910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695306; longitude = -122.107427; captureRadius = 10; duration = 84; initialDepth = 1841.283676; finalDepth = 1840.278910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.647168 # Actual altitude: 50.647168 # Commanded vehicle depth:1840.27891 # Seafloor depth:-1890.926078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1891.283676 meters looking forward 100.000000 meters along route # Maximum depth: 1901.042615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.283676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694940; longitude = -122.108194; captureRadius = 10; duration = 84; initialDepth = 1850.011500; finalDepth = 1841.283676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.647168 # Actual altitude: 50.647168 # Commanded vehicle depth:1841.283676 # Seafloor depth:-1891.864080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1900.011500 meters looking forward 100.000000 meters along route # Maximum depth: 1906.278012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.011500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694567; longitude = -122.108978; captureRadius = 10; duration = 84; initialDepth = 1855.255690; finalDepth = 1850.011500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6360909999999 # Actual altitude: 51.6360909999999 # Commanded vehicle depth:1850.0115 # Seafloor depth:-1901.647591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1905.255690 meters looking forward 100.000000 meters along route # Maximum depth: 1906.282182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.255690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694193; longitude = -122.109762; captureRadius = 10; duration = 84; initialDepth = 1855.797254; finalDepth = 1855.255690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6360909999999 # Actual altitude: 51.6360909999999 # Commanded vehicle depth:1855.25569 # Seafloor depth:-1906.282182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1905.797254 meters looking forward 100.000000 meters along route # Maximum depth: 1908.399043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.797254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693819; longitude = -122.110547; captureRadius = 10; duration = 84; initialDepth = 1851.746436; finalDepth = 1855.797254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.026492 # Actual altitude: 51.026492 # Commanded vehicle depth:1855.797254 # Seafloor depth:-1906.298972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.671703 meters # Minimum depth: 1901.746436 meters looking forward 100.000000 meters along route # Maximum depth: 1911.949772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.746436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693445; longitude = -122.111331; captureRadius = 10; duration = 84; initialDepth = 1847.443543; finalDepth = 1851.746436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.852132 # Actual altitude: 57.852132 # Commanded vehicle depth:1851.746436 # Seafloor depth:-1909.598568 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 84.671703 meters # Minimum depth: 1897.443543 meters looking forward 100.000000 meters along route # Maximum depth: 1906.830655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.443543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693094; longitude = -122.112067; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1840.392503; finalDepth = 1847.443543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.852132 # Actual altitude: 57.852132 # Commanded vehicle depth:1847.443543 # Seafloor depth:-1898.624817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 84.671703 meters # Minimum depth: 1890.392503 meters looking forward 100.000000 meters along route # Maximum depth: 1901.299961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.392503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692422; longitude = -122.112019; captureRadius = 10; duration = 84; initialDepth = 1836.617715; finalDepth = 1840.392503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.897277 # Actual altitude: 59.897277 # Commanded vehicle depth:1840.392503 # Seafloor depth:-1900.289780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 84.671703 meters # Minimum depth: 1886.617715 meters looking forward 100.000000 meters along route # Maximum depth: 1894.093629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.617715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691701; longitude = -122.111968; captureRadius = 10; duration = 84; initialDepth = 1834.068909; finalDepth = 1836.617715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 59.897277 # Actual altitude: 59.897277 # Commanded vehicle depth:1836.617715 # Seafloor depth:-1893.276131 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 84.671703 meters # Minimum depth: 1884.068909 meters looking forward 100.000000 meters along route # Maximum depth: 1919.798065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.068909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691016; longitude = -122.111919; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1866.235257; finalDepth = 1834.068909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.658416 # Actual altitude: 56.658416 # Commanded vehicle depth:1834.068909 # Seafloor depth:-1884.068909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1916.235257 meters looking forward 100.000000 meters along route # Maximum depth: 1919.798065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.235257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691611; longitude = -122.110741; captureRadius = 10; duration = 84; initialDepth = 1864.940072; finalDepth = 1866.235257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7157339999999 # Actual altitude: 52.7157339999999 # Commanded vehicle depth:1866.235257 # Seafloor depth:-1918.950991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1914.940072 meters looking forward 100.000000 meters along route # Maximum depth: 1916.849828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.940072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691972; longitude = -122.110028; captureRadius = 10; duration = 84; initialDepth = 1862.312249; finalDepth = 1864.940072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7157339999999 # Actual altitude: 52.7157339999999 # Commanded vehicle depth:1864.940072 # Seafloor depth:-1916.582887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1912.312249 meters looking forward 100.000000 meters along route # Maximum depth: 1915.741899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.312249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692333; longitude = -122.109314; captureRadius = 10; duration = 84; initialDepth = 1860.016424; finalDepth = 1862.312249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6258799999998 # Actual altitude: 52.6258799999998 # Commanded vehicle depth:1862.312249 # Seafloor depth:-1914.938129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1910.016424 meters looking forward 100.000000 meters along route # Maximum depth: 1913.228250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.016424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692693; longitude = -122.108602; captureRadius = 10; duration = 84; initialDepth = 1853.169159; finalDepth = 1860.016424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6258799999998 # Actual altitude: 52.6258799999998 # Commanded vehicle depth:1860.016424 # Seafloor depth:-1912.078825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1903.169159 meters looking forward 100.000000 meters along route # Maximum depth: 1910.425848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.169159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693053; longitude = -122.107889; captureRadius = 10; duration = 84; initialDepth = 1848.253126; finalDepth = 1853.169159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.561295 # Actual altitude: 56.561295 # Commanded vehicle depth:1853.169159 # Seafloor depth:-1909.730454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1898.253126 meters looking forward 100.000000 meters along route # Maximum depth: 1906.112127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.253126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693414; longitude = -122.107176; captureRadius = 10; duration = 84; initialDepth = 1845.667047; finalDepth = 1848.253126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.561295 # Actual altitude: 56.561295 # Commanded vehicle depth:1848.253126 # Seafloor depth:-1903.018959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1895.667047 meters looking forward 100.000000 meters along route # Maximum depth: 1898.316598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.667047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.106463; captureRadius = 10; duration = 84; initialDepth = 1840.943396; finalDepth = 1845.667047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7658329999999 # Actual altitude: 54.7658329999999 # Commanded vehicle depth:1845.667047 # Seafloor depth:-1898.122003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1890.943396 meters looking forward 100.000000 meters along route # Maximum depth: 1896.152580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.943396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694135; longitude = -122.105750; captureRadius = 10; duration = 84; initialDepth = 1838.843434; finalDepth = 1840.943396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3012100000001 # Actual altitude: 54.3012100000001 # Commanded vehicle depth:1840.943396 # Seafloor depth:-1895.244606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1888.843434 meters looking forward 100.000000 meters along route # Maximum depth: 1891.515807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.843434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694495; longitude = -122.105036; captureRadius = 10; duration = 84; initialDepth = 1833.476564; finalDepth = 1838.843434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3012100000001 # Actual altitude: 54.3012100000001 # Commanded vehicle depth:1838.843434 # Seafloor depth:-1890.909011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1883.476564 meters looking forward 100.000000 meters along route # Maximum depth: 1890.050018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.476564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694855; longitude = -122.104323; captureRadius = 10; duration = 84; initialDepth = 1830.009788; finalDepth = 1833.476564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6119349999999 # Actual altitude: 54.6119349999999 # Commanded vehicle depth:1833.476564 # Seafloor depth:-1888.088499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1880.009788 meters looking forward 100.000000 meters along route # Maximum depth: 1883.750689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.009788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695216; longitude = -122.103610; captureRadius = 10; duration = 84; initialDepth = 1825.489484; finalDepth = 1830.009788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6119349999999 # Actual altitude: 54.6119349999999 # Commanded vehicle depth:1830.009788 # Seafloor depth:-1883.345957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1875.489484 meters looking forward 100.000000 meters along route # Maximum depth: 1881.083412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.489484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695576; longitude = -122.102897; captureRadius = 10; duration = 84; initialDepth = 1822.208062; finalDepth = 1825.489484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2762500000001 # Actual altitude: 54.2762500000001 # Commanded vehicle depth:1825.489484 # Seafloor depth:-1879.765734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1872.208062 meters looking forward 100.000000 meters along route # Maximum depth: 1876.041522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.208062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695937; longitude = -122.102184; captureRadius = 10; duration = 84; initialDepth = 1820.117457; finalDepth = 1822.208062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2762500000001 # Actual altitude: 54.2762500000001 # Commanded vehicle depth:1822.208062 # Seafloor depth:-1875.220362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1870.117457 meters looking forward 100.000000 meters along route # Maximum depth: 1873.482950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.117457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696297; longitude = -122.101471; captureRadius = 10; duration = 84; initialDepth = 1816.602620; finalDepth = 1820.117457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0123000000001 # Actual altitude: 53.0123000000001 # Commanded vehicle depth:1820.117457 # Seafloor depth:-1872.198942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1866.602620 meters looking forward 100.000000 meters along route # Maximum depth: 1870.193320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.602620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.100758; captureRadius = 10; duration = 84; initialDepth = 1813.199079; finalDepth = 1816.602620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5390960000002 # Actual altitude: 53.5390960000002 # Commanded vehicle depth:1816.60262 # Seafloor depth:-1870.141716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1863.199079 meters looking forward 100.000000 meters along route # Maximum depth: 1867.292808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.199079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.100045; captureRadius = 10; duration = 84; initialDepth = 1811.817027; finalDepth = 1813.199079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5390960000002 # Actual altitude: 53.5390960000002 # Commanded vehicle depth:1813.199079 # Seafloor depth:-1866.077984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1861.817027 meters looking forward 100.000000 meters along route # Maximum depth: 1863.975314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.817027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.099332; captureRadius = 10; duration = 84; initialDepth = 1810.227483; finalDepth = 1811.817027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.878905 # Actual altitude: 52.878905 # Commanded vehicle depth:1811.817027 # Seafloor depth:-1863.516436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1860.227483 meters looking forward 100.000000 meters along route # Maximum depth: 1862.524508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.227483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.098619; captureRadius = 10; duration = 84; initialDepth = 1806.444066; finalDepth = 1810.227483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6994090000001 # Actual altitude: 51.6994090000001 # Commanded vehicle depth:1810.227483 # Seafloor depth:-1861.530760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1856.444066 meters looking forward 100.000000 meters along route # Maximum depth: 1860.388889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.444066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698100; longitude = -122.097905; captureRadius = 10; duration = 84; initialDepth = 1803.625941; finalDepth = 1806.444066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4682700000001 # Actual altitude: 53.4682700000001 # Commanded vehicle depth:1806.444066 # Seafloor depth:-1859.912336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1853.625941 meters looking forward 100.000000 meters along route # Maximum depth: 1857.244940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.625941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.097192; captureRadius = 10; duration = 84; initialDepth = 1799.344837; finalDepth = 1803.625941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4682700000001 # Actual altitude: 53.4682700000001 # Commanded vehicle depth:1803.625941 # Seafloor depth:-1856.318940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1849.344837 meters looking forward 100.000000 meters along route # Maximum depth: 1854.121600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.344837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.096479; captureRadius = 10; duration = 84; initialDepth = 1795.946029; finalDepth = 1799.344837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.898387 # Actual altitude: 53.898387 # Commanded vehicle depth:1799.344837 # Seafloor depth:-1853.243224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1845.946029 meters looking forward 100.000000 meters along route # Maximum depth: 1849.712017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.946029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.095766; captureRadius = 10; duration = 84; initialDepth = 1792.257653; finalDepth = 1795.946029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.898387 # Actual altitude: 53.898387 # Commanded vehicle depth:1795.946029 # Seafloor depth:-1849.001883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1842.257653 meters looking forward 100.000000 meters along route # Maximum depth: 1846.421384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.257653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699541; longitude = -122.095053; captureRadius = 10; duration = 84; initialDepth = 1791.160026; finalDepth = 1792.257653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0455410000002 # Actual altitude: 54.0455410000002 # Commanded vehicle depth:1792.257653 # Seafloor depth:-1846.303194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1841.160026 meters looking forward 100.000000 meters along route # Maximum depth: 1843.630997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.160026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699902; longitude = -122.094340; captureRadius = 10; duration = 84; initialDepth = 1787.560951; finalDepth = 1791.160026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0455410000002 # Actual altitude: 54.0455410000002 # Commanded vehicle depth:1791.160026 # Seafloor depth:-1841.720311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1837.560951 meters looking forward 100.000000 meters along route # Maximum depth: 1843.630997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.560951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700262; longitude = -122.093627; captureRadius = 10; duration = 84; initialDepth = 1787.560951; finalDepth = 1787.560951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0438900000001 # Actual altitude: 56.0438900000001 # Commanded vehicle depth:1787.560951 # Seafloor depth:-1843.604841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1837.560951 meters looking forward 100.000000 meters along route # Maximum depth: 1839.995104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.560951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700623; longitude = -122.092914; captureRadius = 10; duration = 84; initialDepth = 1783.694391; finalDepth = 1787.560951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0438900000001 # Actual altitude: 56.0438900000001 # Commanded vehicle depth:1787.560951 # Seafloor depth:-1838.205690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1833.694391 meters looking forward 100.000000 meters along route # Maximum depth: 1839.228079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.694391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700983; longitude = -122.092201; captureRadius = 10; duration = 84; initialDepth = 1781.738850; finalDepth = 1783.694391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1259150000001 # Actual altitude: 53.1259150000001 # Commanded vehicle depth:1783.694391 # Seafloor depth:-1836.820306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1831.738850 meters looking forward 100.000000 meters along route # Maximum depth: 1833.743858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.738850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701344; longitude = -122.091487; captureRadius = 10; duration = 84; initialDepth = 1779.553428; finalDepth = 1781.738850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1259150000001 # Actual altitude: 53.1259150000001 # Commanded vehicle depth:1781.73885 # Seafloor depth:-1833.685777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1829.553428 meters looking forward 100.000000 meters along route # Maximum depth: 1832.156585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.553428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701704; longitude = -122.090774; captureRadius = 10; duration = 84; initialDepth = 1776.024156; finalDepth = 1779.553428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.029256 # Actual altitude: 52.029256 # Commanded vehicle depth:1779.553428 # Seafloor depth:-1831.582684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1826.024156 meters looking forward 100.000000 meters along route # Maximum depth: 1830.168708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.024156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702065; longitude = -122.090061; captureRadius = 10; duration = 84; initialDepth = 1772.019235; finalDepth = 1776.024156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.159754 # Actual altitude: 53.159754 # Commanded vehicle depth:1776.024156 # Seafloor depth:-1829.183910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1822.019235 meters looking forward 100.000000 meters along route # Maximum depth: 1827.060400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.019235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702425; longitude = -122.089348; captureRadius = 10; duration = 84; initialDepth = 1770.475040; finalDepth = 1772.019235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6973720000001 # Actual altitude: 53.6973720000001 # Commanded vehicle depth:1772.019235 # Seafloor depth:-1825.716607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1820.475040 meters looking forward 100.000000 meters along route # Maximum depth: 1822.263862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.475040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702786; longitude = -122.088635; captureRadius = 10; duration = 84; initialDepth = 1768.212990; finalDepth = 1770.475040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6973720000001 # Actual altitude: 53.6973720000001 # Commanded vehicle depth:1770.47504 # Seafloor depth:-1822.241551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1818.212990 meters looking forward 100.000000 meters along route # Maximum depth: 1820.817005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.212990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.087922; captureRadius = 10; duration = 84; initialDepth = 1763.471539; finalDepth = 1768.212990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0176490000001 # Actual altitude: 52.0176490000001 # Commanded vehicle depth:1768.21299 # Seafloor depth:-1820.230639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1813.471539 meters looking forward 100.000000 meters along route # Maximum depth: 1819.209519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.471539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703506; longitude = -122.087209; captureRadius = 10; duration = 84; initialDepth = 1761.103920; finalDepth = 1763.471539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4257980000002 # Actual altitude: 54.4257980000002 # Commanded vehicle depth:1763.471539 # Seafloor depth:-1817.897337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1811.103920 meters looking forward 100.000000 meters along route # Maximum depth: 1813.649985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.103920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703885; longitude = -122.086460; captureRadius = 10; duration = 84; initialDepth = 1757.265948; finalDepth = 1761.103920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4257980000002 # Actual altitude: 54.4257980000002 # Commanded vehicle depth:1761.10392 # Seafloor depth:-1813.383994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.671703 meters # Minimum depth: 1807.265948 meters looking forward 100.000000 meters along route # Maximum depth: 1811.136867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.265948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704281; longitude = -122.085676; captureRadius = 10; duration = 84; initialDepth = 1749.815694; finalDepth = 1757.265948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.197463 # Actual altitude: 53.197463 # Commanded vehicle depth:1757.265948 # Seafloor depth:-1810.463411 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 84.671703 meters # Minimum depth: 1799.815694 meters looking forward 100.000000 meters along route # Maximum depth: 1807.039093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.815694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704668; longitude = -122.084911; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1747.541130; finalDepth = 1749.815694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2233990000002 # Actual altitude: 57.2233990000002 # Commanded vehicle depth:1749.815694 # Seafloor depth:-1807.039093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 84.671703 meters # Minimum depth: 1797.541130 meters looking forward 100.000000 meters along route # Maximum depth: 1800.445365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.541130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704227; longitude = -122.083766; captureRadius = 10; duration = 84; initialDepth = 1747.356781; finalDepth = 1747.541130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 57.2233990000002 # Actual altitude: 57.2233990000002 # Commanded vehicle depth:1747.54113 # Seafloor depth:-1799.783923 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 84.671703 meters # Minimum depth: 1797.356781 meters looking forward 100.000000 meters along route # Maximum depth: 1804.981541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.356781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703926; longitude = -122.082982; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1752.981853; finalDepth = 1747.356781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2427929999999 # Actual altitude: 52.2427929999999 # Commanded vehicle depth:1747.356781 # Seafloor depth:-1797.356781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1802.981853 meters looking forward 100.000000 meters along route # Maximum depth: 1808.890178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.981853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703416; longitude = -122.084001; captureRadius = 10; duration = 84; initialDepth = 1757.933014; finalDepth = 1752.981853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.074901 # Actual altitude: 52.074901 # Commanded vehicle depth:1752.981853 # Seafloor depth:-1805.056754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1807.933014 meters looking forward 100.000000 meters along route # Maximum depth: 1814.379060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.933014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703056; longitude = -122.084722; captureRadius = 10; duration = 84; initialDepth = 1762.594161; finalDepth = 1757.933014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.074901 # Actual altitude: 52.074901 # Commanded vehicle depth:1757.933014 # Seafloor depth:-1809.400068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1812.594161 meters looking forward 100.000000 meters along route # Maximum depth: 1817.667772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.594161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.085443; captureRadius = 10; duration = 84; initialDepth = 1766.233851; finalDepth = 1762.594161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6691129999999 # Actual altitude: 53.6691129999999 # Commanded vehicle depth:1762.594161 # Seafloor depth:-1816.263274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1816.233851 meters looking forward 100.000000 meters along route # Maximum depth: 1823.461235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.233851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.086164; captureRadius = 10; duration = 84; initialDepth = 1772.861867; finalDepth = 1766.233851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6691129999999 # Actual altitude: 53.6691129999999 # Commanded vehicle depth:1766.233851 # Seafloor depth:-1816.530930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1822.861867 meters looking forward 100.000000 meters along route # Maximum depth: 1824.729136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.861867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701975; longitude = -122.086885; captureRadius = 10; duration = 84; initialDepth = 1773.980233; finalDepth = 1772.861867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9849869999998 # Actual altitude: 50.9849869999998 # Commanded vehicle depth:1772.861867 # Seafloor depth:-1823.846854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1823.980233 meters looking forward 100.000000 meters along route # Maximum depth: 1824.729136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.980233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701614; longitude = -122.087606; captureRadius = 10; duration = 84; initialDepth = 1773.980233; finalDepth = 1773.980233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9849869999998 # Actual altitude: 50.9849869999998 # Commanded vehicle depth:1773.980233 # Seafloor depth:-1824.675674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1823.980233 meters looking forward 100.000000 meters along route # Maximum depth: 1829.082549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.980233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.088327; captureRadius = 10; duration = 84; initialDepth = 1777.456884; finalDepth = 1773.980233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6954410000001 # Actual altitude: 50.6954410000001 # Commanded vehicle depth:1773.980233 # Seafloor depth:-1824.241476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1827.456884 meters looking forward 100.000000 meters along route # Maximum depth: 1831.111343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.456884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700893; longitude = -122.089047; captureRadius = 10; duration = 84; initialDepth = 1780.964361; finalDepth = 1777.456884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7125680000001 # Actual altitude: 51.7125680000001 # Commanded vehicle depth:1777.456884 # Seafloor depth:-1829.169452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1830.964361 meters looking forward 100.000000 meters along route # Maximum depth: 1832.224986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.964361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700533; longitude = -122.089768; captureRadius = 10; duration = 84; initialDepth = 1782.073964; finalDepth = 1780.964361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7125680000001 # Actual altitude: 51.7125680000001 # Commanded vehicle depth:1780.964361 # Seafloor depth:-1831.211551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1832.073964 meters looking forward 100.000000 meters along route # Maximum depth: 1833.106359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.073964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700170; longitude = -122.090493; captureRadius = 10; duration = 84; initialDepth = 1783.019555; finalDepth = 1782.073964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24719 # Actual altitude: 50.24719 # Commanded vehicle depth:1782.073964 # Seafloor depth:-1832.073964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1833.019555 meters looking forward 100.000000 meters along route # Maximum depth: 1835.016957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.019555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699812; longitude = -122.091210; captureRadius = 10; duration = 84; initialDepth = 1784.291914; finalDepth = 1783.019555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.041129 # Actual altitude: 50.041129 # Commanded vehicle depth:1783.019555 # Seafloor depth:-1833.060684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1834.291914 meters looking forward 100.000000 meters along route # Maximum depth: 1838.921656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.291914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699451; longitude = -122.091931; captureRadius = 10; duration = 84; initialDepth = 1788.417751; finalDepth = 1784.291914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4358130000001 # Actual altitude: 51.4358130000001 # Commanded vehicle depth:1784.291914 # Seafloor depth:-1835.727727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1838.417751 meters looking forward 100.000000 meters along route # Maximum depth: 1839.800571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.417751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.092652; captureRadius = 10; duration = 84; initialDepth = 1789.247085; finalDepth = 1788.417751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4358130000001 # Actual altitude: 51.4358130000001 # Commanded vehicle depth:1788.417751 # Seafloor depth:-1838.981025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1839.247085 meters looking forward 100.000000 meters along route # Maximum depth: 1843.208025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.247085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698730; longitude = -122.093373; captureRadius = 10; duration = 84; initialDepth = 1792.086387; finalDepth = 1789.247085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9006420000001 # Actual altitude: 50.9006420000001 # Commanded vehicle depth:1789.247085 # Seafloor depth:-1840.147727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1842.086387 meters looking forward 100.000000 meters along route # Maximum depth: 1846.047176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.086387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698370; longitude = -122.094094; captureRadius = 10; duration = 84; initialDepth = 1795.935408; finalDepth = 1792.086387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.267184 # Actual altitude: 51.267184 # Commanded vehicle depth:1792.086387 # Seafloor depth:-1843.353571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1845.935408 meters looking forward 100.000000 meters along route # Maximum depth: 1848.925259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.935408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698009; longitude = -122.094815; captureRadius = 10; duration = 84; initialDepth = 1796.156477; finalDepth = 1795.935408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.267184 # Actual altitude: 51.267184 # Commanded vehicle depth:1795.935408 # Seafloor depth:-1846.195202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1846.156477 meters looking forward 100.000000 meters along route # Maximum depth: 1855.391102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.156477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697649; longitude = -122.095536; captureRadius = 10; duration = 84; initialDepth = 1804.229314; finalDepth = 1796.156477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7818830000001 # Actual altitude: 52.7818830000001 # Commanded vehicle depth:1796.156477 # Seafloor depth:-1848.938360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1854.229314 meters looking forward 100.000000 meters along route # Maximum depth: 1856.503168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.229314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697289; longitude = -122.096256; captureRadius = 10; duration = 84; initialDepth = 1805.429480; finalDepth = 1804.229314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7818830000001 # Actual altitude: 52.7818830000001 # Commanded vehicle depth:1804.229314 # Seafloor depth:-1854.947428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1855.429480 meters looking forward 100.000000 meters along route # Maximum depth: 1859.453958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.429480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696928; longitude = -122.096977; captureRadius = 10; duration = 84; initialDepth = 1807.706811; finalDepth = 1805.429480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8419019999999 # Actual altitude: 51.8419019999999 # Commanded vehicle depth:1805.42948 # Seafloor depth:-1857.271382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1857.706811 meters looking forward 100.000000 meters along route # Maximum depth: 1859.581743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.706811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -122.097698; captureRadius = 10; duration = 84; initialDepth = 1807.706811; finalDepth = 1807.706811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8419019999999 # Actual altitude: 51.8419019999999 # Commanded vehicle depth:1807.706811 # Seafloor depth:-1859.505773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1857.706811 meters looking forward 100.000000 meters along route # Maximum depth: 1860.497808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.706811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696207; longitude = -122.098419; captureRadius = 10; duration = 84; initialDepth = 1809.080210; finalDepth = 1807.706811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7989620000001 # Actual altitude: 51.7989620000001 # Commanded vehicle depth:1807.706811 # Seafloor depth:-1858.168994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1859.080210 meters looking forward 100.000000 meters along route # Maximum depth: 1860.497808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.080210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.099140; captureRadius = 10; duration = 84; initialDepth = 1809.080210; finalDepth = 1809.080210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411355 # Actual altitude: 51.411355 # Commanded vehicle depth:1809.08021 # Seafloor depth:-1860.491565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1859.080210 meters looking forward 100.000000 meters along route # Maximum depth: 1862.667927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.080210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695486; longitude = -122.099861; captureRadius = 10; duration = 84; initialDepth = 1811.406913; finalDepth = 1809.080210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.411355 # Actual altitude: 51.411355 # Commanded vehicle depth:1809.08021 # Seafloor depth:-1859.206911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1861.406913 meters looking forward 100.000000 meters along route # Maximum depth: 1864.397278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.406913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695126; longitude = -122.100582; captureRadius = 10; duration = 84; initialDepth = 1814.325603; finalDepth = 1811.406913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.302811 # Actual altitude: 51.302811 # Commanded vehicle depth:1811.406913 # Seafloor depth:-1862.709724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1864.325603 meters looking forward 100.000000 meters along route # Maximum depth: 1866.599588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.325603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694765; longitude = -122.101303; captureRadius = 10; duration = 84; initialDepth = 1816.263289; finalDepth = 1814.325603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.302811 # Actual altitude: 51.302811 # Commanded vehicle depth:1814.325603 # Seafloor depth:-1864.536923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1866.263289 meters looking forward 100.000000 meters along route # Maximum depth: 1871.467296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.263289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694405; longitude = -122.102024; captureRadius = 10; duration = 84; initialDepth = 1820.432253; finalDepth = 1816.263289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.638876 # Actual altitude: 50.638876 # Commanded vehicle depth:1816.263289 # Seafloor depth:-1866.902165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1870.432253 meters looking forward 100.000000 meters along route # Maximum depth: 1873.117135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.432253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694044; longitude = -122.102745; captureRadius = 10; duration = 84; initialDepth = 1822.823418; finalDepth = 1820.432253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2649160000001 # Actual altitude: 51.2649160000001 # Commanded vehicle depth:1820.432253 # Seafloor depth:-1871.697169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1872.823418 meters looking forward 100.000000 meters along route # Maximum depth: 1879.092152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.823418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693684; longitude = -122.103465; captureRadius = 10; duration = 84; initialDepth = 1827.876013; finalDepth = 1822.823418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2649160000001 # Actual altitude: 51.2649160000001 # Commanded vehicle depth:1822.823418 # Seafloor depth:-1873.470203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1877.876013 meters looking forward 100.000000 meters along route # Maximum depth: 1886.510534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.876013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693323; longitude = -122.104186; captureRadius = 10; duration = 84; initialDepth = 1835.814049; finalDepth = 1827.876013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4638239999999 # Actual altitude: 51.4638239999999 # Commanded vehicle depth:1827.876013 # Seafloor depth:-1879.339837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1885.814049 meters looking forward 100.000000 meters along route # Maximum depth: 1897.506273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.814049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692963; longitude = -122.104907; captureRadius = 10; duration = 84; initialDepth = 1843.986592; finalDepth = 1835.814049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4638239999999 # Actual altitude: 51.4638239999999 # Commanded vehicle depth:1835.814049 # Seafloor depth:-1886.914981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1893.986592 meters looking forward 100.000000 meters along route # Maximum depth: 1904.772859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.986592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692603; longitude = -122.105628; captureRadius = 10; duration = 84; initialDepth = 1854.504107; finalDepth = 1843.986592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7276979999999 # Actual altitude: 53.7276979999999 # Commanded vehicle depth:1843.986592 # Seafloor depth:-1897.714290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1904.504107 meters looking forward 100.000000 meters along route # Maximum depth: 1909.366467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.504107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692242; longitude = -122.106349; captureRadius = 10; duration = 84; initialDepth = 1858.334229; finalDepth = 1854.504107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7276979999999 # Actual altitude: 53.7276979999999 # Commanded vehicle depth:1854.504107 # Seafloor depth:-1904.808985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1908.334229 meters looking forward 100.000000 meters along route # Maximum depth: 1910.988061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.334229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691880; longitude = -122.107074; captureRadius = 10; duration = 84; initialDepth = 1860.760620; finalDepth = 1858.334229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0483159999999 # Actual altitude: 51.0483159999999 # Commanded vehicle depth:1858.334229 # Seafloor depth:-1909.382545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1910.760620 meters looking forward 100.000000 meters along route # Maximum depth: 1915.744209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.760620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691521; longitude = -122.107791; captureRadius = 10; duration = 84; initialDepth = 1864.548215; finalDepth = 1860.760620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0483159999999 # Actual altitude: 51.0483159999999 # Commanded vehicle depth:1860.76062 # Seafloor depth:-1911.088568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1914.548215 meters looking forward 100.000000 meters along route # Maximum depth: 1920.878307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.548215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691161; longitude = -122.108512; captureRadius = 10; duration = 84; initialDepth = 1869.854481; finalDepth = 1864.548215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0720229999999 # Actual altitude: 52.0720229999999 # Commanded vehicle depth:1864.548215 # Seafloor depth:-1916.620238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1919.854481 meters looking forward 100.000000 meters along route # Maximum depth: 1924.282135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.854481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690800; longitude = -122.109233; captureRadius = 10; duration = 84; initialDepth = 1870.677162; finalDepth = 1869.854481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0720229999999 # Actual altitude: 52.0720229999999 # Commanded vehicle depth:1869.854481 # Seafloor depth:-1921.153166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1920.677162 meters looking forward 100.000000 meters along route # Maximum depth: 1925.543677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.677162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690440; longitude = -122.109953; captureRadius = 10; duration = 84; initialDepth = 1842.408526; finalDepth = 1870.677162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.046341 # Actual altitude: 54.046341 # Commanded vehicle depth:1870.677162 # Seafloor depth:-1924.723503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 84.671703 meters # Minimum depth: 1892.408526 meters looking forward 100.000000 meters along route # Maximum depth: 1922.897291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.408526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690079; longitude = -122.110674; captureRadius = 10; duration = 84; initialDepth = 1841.633179; finalDepth = 1842.408526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.831819 # Actual altitude: 77.831819 # Commanded vehicle depth:1842.408526 # Seafloor depth:-1920.240345 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 311.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 84.671703 meters # Minimum depth: 1891.633179 meters looking forward 100.000000 meters along route # Maximum depth: 1904.944560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.633179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689680; longitude = -122.111473; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1852.001307; finalDepth = 1841.633179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.831819 # Actual altitude: 77.831819 # Commanded vehicle depth:1841.633179 # Seafloor depth:-1891.633179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 311.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 84.671703 meters # Minimum depth: 1902.001307 meters looking forward 100.000000 meters along route # Maximum depth: 1919.106157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.001307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688963; longitude = -122.110995; captureRadius = 10; duration = 84; initialDepth = 1868.404144; finalDepth = 1852.001307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 53.8938800000001 # Actual altitude: 53.8938800000001 # Commanded vehicle depth:1852.001307 # Seafloor depth:-1905.895187 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 84.671703 meters # Minimum depth: 1918.404144 meters looking forward 100.000000 meters along route # Maximum depth: 1930.793797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.404144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688345; longitude = -122.110583; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1880.400180; finalDepth = 1868.404144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8938800000001 # Actual altitude: 53.8938800000001 # Commanded vehicle depth:1868.404144 # Seafloor depth:-1918.404144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1930.400180 meters looking forward 100.000000 meters along route # Maximum depth: 1933.081007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.400180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688910; longitude = -122.109538; captureRadius = 10; duration = 84; initialDepth = 1826.340102; finalDepth = 1880.400180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.404317 # Actual altitude: 50.404317 # Commanded vehicle depth:1880.40018 # Seafloor depth:-1930.804497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1876.340102 meters looking forward 100.000000 meters along route # Maximum depth: 1931.149797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.340102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689334; longitude = -122.108754; captureRadius = 10; duration = 84; initialDepth = 1826.340102; finalDepth = 1826.340102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.987964 # Actual altitude: 100 # Commanded vehicle depth:1826.340102 # Seafloor depth:-1927.328066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; 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 22 # Segment length 84.671703 meters # Minimum depth: 1876.340102 meters looking forward 100.000000 meters along route # Maximum depth: 1916.579003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.340102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689719; longitude = -122.108043; captureRadius = 10; duration = 84; initialDepth = 1850.392402; finalDepth = 1826.340102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.987964 # Actual altitude: 100 # Commanded vehicle depth:1826.340102 # Seafloor depth:-1876.494922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; 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 22 # Segment length 84.671703 meters # Minimum depth: 1916.291497 meters looking forward 100.000000 meters along route # Maximum depth: 1918.334862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.392402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690122; longitude = -122.107298; captureRadius = 10; duration = 84; initialDepth = 1863.217992; finalDepth = 1850.392402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8064995000002 # Actual altitude: 66.8064995000002 # Commanded vehicle depth:1850.3924025 # Seafloor depth:-1917.198902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 267.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1913.217992 meters looking forward 100.000000 meters along route # Maximum depth: 1918.334862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.217992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690530; longitude = -122.106543; captureRadius = 10; duration = 84; initialDepth = 1851.989909; finalDepth = 1863.217992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8064995000002 # Actual altitude: 66.8064995000002 # Commanded vehicle depth:1863.217992 # Seafloor depth:-1917.961078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 267.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1901.989909 meters looking forward 100.000000 meters along route # Maximum depth: 1913.857914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.989909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690909; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1838.745204; finalDepth = 1851.989909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.954825 # Actual altitude: 60.954825 # Commanded vehicle depth:1851.989909 # Seafloor depth:-1912.944734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1888.745204 meters looking forward 100.000000 meters along route # Maximum depth: 1904.121600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.745204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691341; longitude = -122.105044; captureRadius = 10; duration = 84; initialDepth = 1829.691491; finalDepth = 1838.745204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.985516 # Actual altitude: 62.985516 # Commanded vehicle depth:1838.745204 # Seafloor depth:-1901.730720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1879.691491 meters looking forward 100.000000 meters along route # Maximum depth: 1888.853645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.691491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691758; longitude = -122.104273; captureRadius = 10; duration = 84; initialDepth = 1818.817882; finalDepth = 1829.691491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.985516 # Actual altitude: 62.985516 # Commanded vehicle depth:1829.691491 # Seafloor depth:-1887.323728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1868.817882 meters looking forward 100.000000 meters along route # Maximum depth: 1881.452950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.817882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692152; longitude = -122.103544; captureRadius = 10; duration = 84; initialDepth = 1805.805810; finalDepth = 1818.817882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.9549139999999 # Actual altitude: 59.9549139999999 # Commanded vehicle depth:1818.817882 # Seafloor depth:-1878.772796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 239.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1855.805810 meters looking forward 100.000000 meters along route # Maximum depth: 1869.517940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.805810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692545; longitude = -122.102817; captureRadius = 10; duration = 84; initialDepth = 1798.688503; finalDepth = 1805.805810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1905869999998 # Actual altitude: 62.1905869999998 # Commanded vehicle depth:1805.80581 # Seafloor depth:-1867.996397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1848.688503 meters looking forward 100.000000 meters along route # Maximum depth: 1857.168752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.688503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692970; longitude = -122.102032; captureRadius = 10; duration = 84; initialDepth = 1794.644295; finalDepth = 1798.688503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1905869999998 # Actual altitude: 62.1905869999998 # Commanded vehicle depth:1798.688503 # Seafloor depth:-1855.659403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 248.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1844.644295 meters looking forward 100.000000 meters along route # Maximum depth: 1849.557413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.644295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693394; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1792.160842; finalDepth = 1794.644295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9709 # Actual altitude: 56.9709 # Commanded vehicle depth:1794.644295 # Seafloor depth:-1848.047825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1842.160842 meters looking forward 100.000000 meters along route # Maximum depth: 1845.557002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.160842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.100545; captureRadius = 10; duration = 84; initialDepth = 1789.212707; finalDepth = 1792.160842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.40353 # Actual altitude: 53.40353 # Commanded vehicle depth:1792.160842 # Seafloor depth:-1844.487514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1839.212707 meters looking forward 100.000000 meters along route # Maximum depth: 1842.321046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.212707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694181; longitude = -122.099792; captureRadius = 10; duration = 84; initialDepth = 1787.055250; finalDepth = 1789.212707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.576916 # Actual altitude: 52.576916 # Commanded vehicle depth:1789.212707 # Seafloor depth:-1841.789623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1837.055250 meters looking forward 100.000000 meters along route # Maximum depth: 1839.585691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.055250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694585; longitude = -122.099045; captureRadius = 10; duration = 84; initialDepth = 1787.743828; finalDepth = 1787.055250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.576916 # Actual altitude: 52.576916 # Commanded vehicle depth:1787.05525 # Seafloor depth:-1838.869228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1837.743828 meters looking forward 100.000000 meters along route # Maximum depth: 1842.671560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.743828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694969; longitude = -122.098335; captureRadius = 10; duration = 84; initialDepth = 1792.041793; finalDepth = 1787.743828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8139780000001 # Actual altitude: 51.8139780000001 # Commanded vehicle depth:1787.743828 # Seafloor depth:-1838.312100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1842.041793 meters looking forward 100.000000 meters along route # Maximum depth: 1847.851935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.041793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.097546; captureRadius = 10; duration = 84; initialDepth = 1797.850221; finalDepth = 1792.041793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6751529999999 # Actual altitude: 50.6751529999999 # Commanded vehicle depth:1792.041793 # Seafloor depth:-1842.716946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 84.671703 meters # Minimum depth: 1847.850221 meters looking forward 100.000000 meters along route # Maximum depth: 1850.224014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.850221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695817; longitude = -122.096767; captureRadius = 10; duration = 84; initialDepth = 1783.718724; finalDepth = 1797.850221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8591880000001 # Actual altitude: 50.8591880000001 # Commanded vehicle depth:1797.850221 # Seafloor depth:-1848.709409 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.44; 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 84.671703 meters # Minimum depth: 1833.718724 meters looking forward 100.000000 meters along route # Maximum depth: 1848.160736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.718724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696210; longitude = -122.096041; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1763.055515; finalDepth = 1783.718724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.442012 # Actual altitude: 64.442012 # Commanded vehicle depth:1783.718724 # Seafloor depth:-1848.160736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.671703 meters # Minimum depth: 1813.055515 meters looking forward 100.000000 meters along route # Maximum depth: 1833.718724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.055515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695216; longitude = -122.096195; captureRadius = 10; duration = 84; initialDepth = 1743.657690; finalDepth = 1763.055515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5776880000001 # Actual altitude: 68.5776880000001 # Commanded vehicle depth:1763.055515 # Seafloor depth:-1831.633203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.671703 meters # Minimum depth: 1793.657690 meters looking forward 100.000000 meters along route # Maximum depth: 1813.055515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.657690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694495; longitude = -122.096307; captureRadius = 10; duration = 84; initialDepth = 1734.715431; finalDepth = 1743.657690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5776880000001 # Actual altitude: 68.5776880000001 # Commanded vehicle depth:1743.65769 # Seafloor depth:-1809.214045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.671703 meters # Minimum depth: 1784.715431 meters looking forward 100.000000 meters along route # Maximum depth: 1793.657690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.715431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693774; longitude = -122.096419; captureRadius = 10; duration = 84; initialDepth = 1734.715431; finalDepth = 1734.715431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5563549999999 # Actual altitude: 65.5563549999999 # Commanded vehicle depth:1734.715431 # Seafloor depth:-1791.889799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 262.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 84.671703 meters # Minimum depth: 1784.715431 meters looking forward 100.000000 meters along route # Maximum depth: 1803.352154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.715431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693053; longitude = -122.096530; captureRadius = 10; duration = 84; initialDepth = 1745.687361; finalDepth = 1734.715431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 57.174368 # Actual altitude: 57.174368 # Commanded vehicle depth:1734.715431 # Seafloor depth:-1785.122610 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 84.671703 meters # Minimum depth: 1795.687361 meters looking forward 100.000000 meters along route # Maximum depth: 1805.020078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.687361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692353; longitude = -122.096639; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1745.617348; finalDepth = 1745.687361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4857039999999 # Actual altitude: 58.4857039999999 # Commanded vehicle depth:1745.687361 # Seafloor depth:-1804.173065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 233.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1795.617348 meters looking forward 100.000000 meters along route # Maximum depth: 1802.765110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.617348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693111; longitude = -122.097215; captureRadius = 10; duration = 84; initialDepth = 1749.572694; finalDepth = 1745.617348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4857039999999 # Actual altitude: 58.4857039999999 # Commanded vehicle depth:1745.617348 # Seafloor depth:-1795.621191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 233.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1799.572694 meters looking forward 100.000000 meters along route # Maximum depth: 1816.892517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.572694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693701; longitude = -122.097663; captureRadius = 10; duration = 84; initialDepth = 1764.999263; finalDepth = 1749.572694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7641720000001 # Actual altitude: 53.7641720000001 # Commanded vehicle depth:1749.572694 # Seafloor depth:-1803.336866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1814.999263 meters looking forward 100.000000 meters along route # Maximum depth: 1837.285327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.999263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694291; longitude = -122.098111; captureRadius = 10; duration = 84; initialDepth = 1783.154085; finalDepth = 1764.999263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7641720000001 # Actual altitude: 53.7641720000001 # Commanded vehicle depth:1764.999263 # Seafloor depth:-1818.561703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1833.154085 meters looking forward 100.000000 meters along route # Maximum depth: 1853.203382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.154085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694880; longitude = -122.098560; captureRadius = 10; duration = 84; initialDepth = 1800.490381; finalDepth = 1783.154085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9045490000001 # Actual altitude: 54.9045490000001 # Commanded vehicle depth:1783.154085 # Seafloor depth:-1838.058634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1850.490381 meters looking forward 100.000000 meters along route # Maximum depth: 1861.167813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.490381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695470; longitude = -122.099008; captureRadius = 10; duration = 84; initialDepth = 1810.628902; finalDepth = 1800.490381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9045490000001 # Actual altitude: 54.9045490000001 # Commanded vehicle depth:1800.490381 # Seafloor depth:-1855.357234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1860.628902 meters looking forward 100.000000 meters along route # Maximum depth: 1864.109709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.628902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696060; longitude = -122.099456; captureRadius = 10; duration = 84; initialDepth = 1813.297473; finalDepth = 1810.628902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.866853 # Actual altitude: 54.866853 # Commanded vehicle depth:1810.628902 # Seafloor depth:-1861.364985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1863.297473 meters looking forward 100.000000 meters along route # Maximum depth: 1868.495103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.297473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.099910; captureRadius = 10; duration = 84; initialDepth = 1817.606467; finalDepth = 1813.297473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.899592 # Actual altitude: 50.899592 # Commanded vehicle depth:1813.297473 # Seafloor depth:-1864.197065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1867.606467 meters looking forward 100.000000 meters along route # Maximum depth: 1869.674378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.606467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697239; longitude = -122.100352; captureRadius = 10; duration = 84; initialDepth = 1818.928718; finalDepth = 1817.606467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2323159999999 # Actual altitude: 51.2323159999999 # Commanded vehicle depth:1817.606467 # Seafloor depth:-1868.838783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1868.928718 meters looking forward 100.000000 meters along route # Maximum depth: 1870.148354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.928718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.100800; captureRadius = 10; duration = 84; initialDepth = 1817.103680; finalDepth = 1818.928718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2323159999999 # Actual altitude: 51.2323159999999 # Commanded vehicle depth:1818.928718 # Seafloor depth:-1869.046997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1867.103680 meters looking forward 100.000000 meters along route # Maximum depth: 1870.275741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.103680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698419; longitude = -122.101248; captureRadius = 10; duration = 84; initialDepth = 1817.103680; finalDepth = 1817.103680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1284740000001 # Actual altitude: 53.1284740000001 # Commanded vehicle depth:1817.10368 # Seafloor depth:-1870.232154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1867.103680 meters looking forward 100.000000 meters along route # Maximum depth: 1868.745779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.103680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699009; longitude = -122.101696; captureRadius = 10; duration = 84; initialDepth = 1817.127862; finalDepth = 1817.103680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1284740000001 # Actual altitude: 53.1284740000001 # Commanded vehicle depth:1817.10368 # Seafloor depth:-1867.129048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1867.127862 meters looking forward 100.000000 meters along route # Maximum depth: 1868.965903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.127862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699598; longitude = -122.102144; captureRadius = 10; duration = 84; initialDepth = 1815.550634; finalDepth = 1817.127862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2480679999999 # Actual altitude: 51.2480679999999 # Commanded vehicle depth:1817.127862 # Seafloor depth:-1868.375930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1865.550634 meters looking forward 100.000000 meters along route # Maximum depth: 1868.393690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.550634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700188; longitude = -122.102593; captureRadius = 10; duration = 84; initialDepth = 1815.423754; finalDepth = 1815.550634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4186850000001 # Actual altitude: 51.4186850000001 # Commanded vehicle depth:1815.550634 # Seafloor depth:-1866.969319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1865.423754 meters looking forward 100.000000 meters along route # Maximum depth: 1865.936552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.423754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700778; longitude = -122.103041; captureRadius = 10; duration = 84; initialDepth = 1811.734363; finalDepth = 1815.423754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4186850000001 # Actual altitude: 51.4186850000001 # Commanded vehicle depth:1815.423754 # Seafloor depth:-1865.876825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1861.734363 meters looking forward 100.000000 meters along route # Maximum depth: 1865.896238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.734363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701368; longitude = -122.103489; captureRadius = 10; duration = 84; initialDepth = 1810.218857; finalDepth = 1811.734363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.925387 # Actual altitude: 53.925387 # Commanded vehicle depth:1811.734363 # Seafloor depth:-1865.659750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1860.218857 meters looking forward 100.000000 meters along route # Maximum depth: 1862.055952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.218857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701957; longitude = -122.103937; captureRadius = 10; duration = 84; initialDepth = 1808.999177; finalDepth = 1810.218857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.925387 # Actual altitude: 53.925387 # Commanded vehicle depth:1810.218857 # Seafloor depth:-1861.506140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1858.999177 meters looking forward 100.000000 meters along route # Maximum depth: 1861.070222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.999177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702547; longitude = -122.104385; captureRadius = 10; duration = 84; initialDepth = 1806.884733; finalDepth = 1808.999177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7330140000001 # Actual altitude: 51.7330140000001 # Commanded vehicle depth:1808.999177 # Seafloor depth:-1860.732191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1856.884733 meters looking forward 100.000000 meters along route # Maximum depth: 1860.037918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.884733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703146; longitude = -122.104840; captureRadius = 10; duration = 84; initialDepth = 1806.884733; finalDepth = 1806.884733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0609549999999 # Actual altitude: 52.0609549999999 # Commanded vehicle depth:1806.884733 # Seafloor depth:-1858.945688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1856.884733 meters looking forward 100.000000 meters along route # Maximum depth: 1857.442131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.884733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703727; longitude = -122.105281; captureRadius = 10; duration = 84; initialDepth = 1794.188261; finalDepth = 1806.884733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0609549999999 # Actual altitude: 52.0609549999999 # Commanded vehicle depth:1806.884733 # Seafloor depth:-1856.944571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1844.188261 meters looking forward 100.000000 meters along route # Maximum depth: 1857.435349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.188261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704318; longitude = -122.105730; captureRadius = 10; duration = 84; initialDepth = 1773.966857; finalDepth = 1794.188261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7677779999999 # Actual altitude: 62.7677779999999 # Commanded vehicle depth:1794.188261 # Seafloor depth:-1856.956039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1823.966857 meters looking forward 100.000000 meters along route # Maximum depth: 1848.670242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.966857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704906; longitude = -122.106177; captureRadius = 10; duration = 84; initialDepth = 1767.550401; finalDepth = 1773.966857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.866516 # Actual altitude: 67.866516 # Commanded vehicle depth:1773.966857 # Seafloor depth:-1841.833373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1817.550401 meters looking forward 100.000000 meters along route # Maximum depth: 1825.731502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.550401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705496; longitude = -122.106626; captureRadius = 10; duration = 84; initialDepth = 1761.616885; finalDepth = 1767.550401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.866516 # Actual altitude: 67.866516 # Commanded vehicle depth:1767.550401 # Seafloor depth:-1823.923922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1811.616885 meters looking forward 100.000000 meters along route # Maximum depth: 1819.574386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.616885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706086; longitude = -122.107074; captureRadius = 10; duration = 84; initialDepth = 1760.932793; finalDepth = 1761.616885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.373521 # Actual altitude: 56.373521 # Commanded vehicle depth:1761.616885 # Seafloor depth:-1816.418578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1810.932793 meters looking forward 100.000000 meters along route # Maximum depth: 1812.973331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.932793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706675; longitude = -122.107522; captureRadius = 10; duration = 84; initialDepth = 1753.566343; finalDepth = 1760.932793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8016930000001 # Actual altitude: 54.8016930000001 # Commanded vehicle depth:1760.932793 # Seafloor depth:-1811.510794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1803.566343 meters looking forward 100.000000 meters along route # Maximum depth: 1812.180465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.566343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707265; longitude = -122.107970; captureRadius = 10; duration = 84; initialDepth = 1746.980784; finalDepth = 1753.566343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.800843 # Actual altitude: 57.800843 # Commanded vehicle depth:1753.566343 # Seafloor depth:-1811.367186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1796.980784 meters looking forward 100.000000 meters along route # Maximum depth: 1805.622285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.980784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707855; longitude = -122.108418; captureRadius = 10; duration = 84; initialDepth = 1742.527153; finalDepth = 1746.980784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.800843 # Actual altitude: 57.800843 # Commanded vehicle depth:1746.980784 # Seafloor depth:-1803.207739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1792.527153 meters looking forward 100.000000 meters along route # Maximum depth: 1798.171099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.527153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708445; longitude = -122.108866; captureRadius = 10; duration = 84; initialDepth = 1739.063580; finalDepth = 1742.527153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2269549999999 # Actual altitude: 56.2269549999999 # Commanded vehicle depth:1742.527153 # Seafloor depth:-1796.043314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1789.063580 meters looking forward 100.000000 meters along route # Maximum depth: 1794.420636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.063580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709034; longitude = -122.109314; captureRadius = 10; duration = 84; initialDepth = 1725.321651; finalDepth = 1739.063580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.36052 # Actual altitude: 54.36052 # Commanded vehicle depth:1739.06358 # Seafloor depth:-1793.424100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1775.321651 meters looking forward 100.000000 meters along route # Maximum depth: 1792.250713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.321651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709634; longitude = -122.109770; captureRadius = 10; duration = 84; initialDepth = 1707.528496; finalDepth = 1725.321651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.518073 # Actual altitude: 63.518073 # Commanded vehicle depth:1725.321651 # Seafloor depth:-1788.839724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 254.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1757.528496 meters looking forward 100.000000 meters along route # Maximum depth: 1778.957545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.528496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710214; longitude = -122.110211; captureRadius = 10; duration = 84; initialDepth = 1695.246562; finalDepth = 1707.528496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4999560000001 # Actual altitude: 66.4999560000001 # Commanded vehicle depth:1707.528496 # Seafloor depth:-1774.028452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 266.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1745.246562 meters looking forward 100.000000 meters along route # Maximum depth: 1762.136764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.246562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710806; longitude = -122.110660; captureRadius = 10; duration = 84; initialDepth = 1682.372029; finalDepth = 1695.246562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4999560000001 # Actual altitude: 66.4999560000001 # Commanded vehicle depth:1695.246562 # Seafloor depth:-1757.471081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 266.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1732.372029 meters looking forward 100.000000 meters along route # Maximum depth: 1747.010268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.372029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711393; longitude = -122.111107; captureRadius = 10; duration = 84; initialDepth = 1670.365822; finalDepth = 1682.372029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2245189999999 # Actual altitude: 62.2245189999999 # Commanded vehicle depth:1682.372029 # Seafloor depth:-1744.194723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 248.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1720.365822 meters looking forward 100.000000 meters along route # Maximum depth: 1734.158484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.365822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711983; longitude = -122.111555; captureRadius = 10; duration = 84; initialDepth = 1660.872014; finalDepth = 1670.365822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.950415 # Actual altitude: 61.950415 # Commanded vehicle depth:1670.365822 # Seafloor depth:-1732.316237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1710.872014 meters looking forward 100.000000 meters along route # Maximum depth: 1722.869072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.872014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712573; longitude = -122.112003; captureRadius = 10; duration = 84; initialDepth = 1650.226141; finalDepth = 1660.872014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.950415 # Actual altitude: 61.950415 # Commanded vehicle depth:1660.872014 # Seafloor depth:-1719.089352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1700.226141 meters looking forward 100.000000 meters along route # Maximum depth: 1713.006988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.226141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713163; longitude = -122.112451; captureRadius = 10; duration = 84; initialDepth = 1649.190287; finalDepth = 1650.226141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3933279999999 # Actual altitude: 60.3933279999999 # Commanded vehicle depth:1650.226141 # Seafloor depth:-1710.619469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 241.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 84.671703 meters # Minimum depth: 1699.190287 meters looking forward 100.000000 meters along route # Maximum depth: 1700.676331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.190287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.112920; captureRadius = 10; duration = 84; initialDepth = 1643.864726; finalDepth = 1649.190287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3933279999999 # Actual altitude: 60.3933279999999 # Commanded vehicle depth:1649.190287 # Seafloor depth:-1700.072479 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 241.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.57; 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 84.671703 meters # Minimum depth: 1693.864726 meters looking forward 100.000000 meters along route # Maximum depth: 1699.303385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.864726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714440; longitude = -122.113422; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1643.864726; finalDepth = 1643.864726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4386589999999 # Actual altitude: 55.4386589999999 # Commanded vehicle depth:1643.864726 # Seafloor depth:-1699.303385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.671703 meters # Minimum depth: 1693.864726 meters looking forward 100.000000 meters along route # Maximum depth: 1700.728047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.864726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714864; longitude = -122.112563; captureRadius = 10; duration = 84; initialDepth = 1639.684755; finalDepth = 1643.864726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4386589999999 # Actual altitude: 55.4386589999999 # Commanded vehicle depth:1643.864726 # Seafloor depth:-1695.036369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.671703 meters # Minimum depth: 1689.684755 meters looking forward 100.000000 meters along route # Maximum depth: 1699.790778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.684755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715221; longitude = -122.111838; captureRadius = 10; duration = 84; initialDepth = 1634.284877; finalDepth = 1639.684755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.759407 # Actual altitude: 58.759407 # Commanded vehicle depth:1639.684755 # Seafloor depth:-1698.444162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.671703 meters # Minimum depth: 1684.284877 meters looking forward 100.000000 meters along route # Maximum depth: 1689.684755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.284877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715582; longitude = -122.111107; captureRadius = 10; duration = 84; initialDepth = 1637.509435; finalDepth = 1634.284877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.759407 # Actual altitude: 58.759407 # Commanded vehicle depth:1634.284877 # Seafloor depth:-1687.403198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.671703 meters # Minimum depth: 1687.509435 meters looking forward 100.000000 meters along route # Maximum depth: 1695.107518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.509435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715969; longitude = -122.110323; captureRadius = 10; duration = 84; initialDepth = 1645.067284; finalDepth = 1637.509435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1183209999999 # Actual altitude: 53.1183209999999 # Commanded vehicle depth:1637.509435 # Seafloor depth:-1689.270776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 84.671703 meters # Minimum depth: 1695.067284 meters looking forward 100.000000 meters along route # Maximum depth: 1697.438925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.067284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716355; longitude = -122.109538; captureRadius = 10; duration = 84; initialDepth = 1645.401367; finalDepth = 1645.067284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.7613410000001 # Actual altitude: 51.7613410000001 # Commanded vehicle depth:1645.067284 # Seafloor depth:-1695.867735 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 84.671703 meters # Minimum depth: 1695.401367 meters looking forward 100.000000 meters along route # Maximum depth: 1704.347622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.401367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716723; longitude = -122.108792; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1652.481429; finalDepth = 1645.401367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8004510000001 # Actual altitude: 50.8004510000001 # Commanded vehicle depth:1645.401367 # Seafloor depth:-1695.401367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1702.481429 meters looking forward 100.000000 meters along route # Maximum depth: 1719.353282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.481429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715782; longitude = -122.108082; captureRadius = 10; duration = 84; initialDepth = 1666.560538; finalDepth = 1652.481429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5961200000002 # Actual altitude: 53.5961200000002 # Commanded vehicle depth:1652.481429 # Seafloor depth:-1706.077549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1716.560538 meters looking forward 100.000000 meters along route # Maximum depth: 1735.819774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.560538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715188; longitude = -122.107634; captureRadius = 10; duration = 84; initialDepth = 1682.332037; finalDepth = 1666.560538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7839719999999 # Actual altitude: 53.7839719999999 # Commanded vehicle depth:1666.560538 # Seafloor depth:-1720.344510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1732.332037 meters looking forward 100.000000 meters along route # Maximum depth: 1742.075939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.332037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714591; longitude = -122.107184; captureRadius = 10; duration = 84; initialDepth = 1691.233926; finalDepth = 1682.332037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7839719999999 # Actual altitude: 53.7839719999999 # Commanded vehicle depth:1682.332037 # Seafloor depth:-1735.882327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1741.233926 meters looking forward 100.000000 meters along route # Maximum depth: 1758.193586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.233926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713999; longitude = -122.106738; captureRadius = 10; duration = 84; initialDepth = 1704.603754; finalDepth = 1691.233926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5502900000001 # Actual altitude: 53.5502900000001 # Commanded vehicle depth:1691.233926 # Seafloor depth:-1742.745367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1754.603754 meters looking forward 100.000000 meters along route # Maximum depth: 1770.605438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.603754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713404; longitude = -122.106290; captureRadius = 10; duration = 84; initialDepth = 1718.459968; finalDepth = 1704.603754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.047826 # Actual altitude: 54.047826 # Commanded vehicle depth:1704.603754 # Seafloor depth:-1758.651580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1768.459968 meters looking forward 100.000000 meters along route # Maximum depth: 1773.369553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.459968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712810; longitude = -122.105841; captureRadius = 10; duration = 84; initialDepth = 1718.844320; finalDepth = 1718.459968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.047826 # Actual altitude: 54.047826 # Commanded vehicle depth:1718.459968 # Seafloor depth:-1771.868112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1768.844320 meters looking forward 100.000000 meters along route # Maximum depth: 1773.369553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.844320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712215; longitude = -122.105393; captureRadius = 10; duration = 84; initialDepth = 1718.844320; finalDepth = 1718.844320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.887749 # Actual altitude: 53.887749 # Commanded vehicle depth:1718.84432 # Seafloor depth:-1772.732069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1768.844320 meters looking forward 100.000000 meters along route # Maximum depth: 1784.630719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.844320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.104942; captureRadius = 10; duration = 84; initialDepth = 1732.189453; finalDepth = 1718.844320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.887749 # Actual altitude: 53.887749 # Commanded vehicle depth:1718.84432 # Seafloor depth:-1770.316427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1782.189453 meters looking forward 100.000000 meters along route # Maximum depth: 1794.578445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.189453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711027; longitude = -122.104497; captureRadius = 10; duration = 84; initialDepth = 1743.494383; finalDepth = 1732.189453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.601979 # Actual altitude: 53.601979 # Commanded vehicle depth:1732.189453 # Seafloor depth:-1785.791432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1793.494383 meters looking forward 100.000000 meters along route # Maximum depth: 1806.742852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.494383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710432; longitude = -122.104049; captureRadius = 10; duration = 84; initialDepth = 1755.211501; finalDepth = 1743.494383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.601979 # Actual altitude: 53.601979 # Commanded vehicle depth:1743.494383 # Seafloor depth:-1794.778965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1805.211501 meters looking forward 100.000000 meters along route # Maximum depth: 1816.863784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.211501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709838; longitude = -122.103601; captureRadius = 10; duration = 84; initialDepth = 1762.076556; finalDepth = 1755.211501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6233110000001 # Actual altitude: 52.6233110000001 # Commanded vehicle depth:1755.211501 # Seafloor depth:-1807.834812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1812.076556 meters looking forward 100.000000 meters along route # Maximum depth: 1816.863784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.076556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709243; longitude = -122.103153; captureRadius = 10; duration = 84; initialDepth = 1760.378857; finalDepth = 1762.076556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7104630000001 # Actual altitude: 54.7104630000001 # Commanded vehicle depth:1762.076556 # Seafloor depth:-1816.787019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1810.378857 meters looking forward 100.000000 meters along route # Maximum depth: 1812.299497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.378857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708643; longitude = -122.102700; captureRadius = 10; duration = 84; initialDepth = 1760.918813; finalDepth = 1760.378857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7104630000001 # Actual altitude: 54.7104630000001 # Commanded vehicle depth:1760.378857 # Seafloor depth:-1812.104777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1810.918813 meters looking forward 100.000000 meters along route # Maximum depth: 1834.295966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.918813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708054; longitude = -122.102256; captureRadius = 10; duration = 84; initialDepth = 1780.505356; finalDepth = 1760.918813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4021090000001 # Actual altitude: 52.4021090000001 # Commanded vehicle depth:1760.918813 # Seafloor depth:-1813.320922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1830.505356 meters looking forward 100.000000 meters along route # Maximum depth: 1838.593808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.505356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707460; longitude = -122.101808; captureRadius = 10; duration = 84; initialDepth = 1788.275331; finalDepth = 1780.505356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9690620000001 # Actual altitude: 53.9690620000001 # Commanded vehicle depth:1780.505356 # Seafloor depth:-1834.474418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1838.275331 meters looking forward 100.000000 meters along route # Maximum depth: 1840.936638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.275331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706865; longitude = -122.101360; captureRadius = 10; duration = 84; initialDepth = 1789.896497; finalDepth = 1788.275331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9690620000001 # Actual altitude: 53.9690620000001 # Commanded vehicle depth:1788.275331 # Seafloor depth:-1838.788274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1839.896497 meters looking forward 100.000000 meters along route # Maximum depth: 1844.623682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.896497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706271; longitude = -122.100912; captureRadius = 10; duration = 84; initialDepth = 1794.483387; finalDepth = 1789.896497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.358013 # Actual altitude: 51.358013 # Commanded vehicle depth:1789.896497 # Seafloor depth:-1841.254510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1844.483387 meters looking forward 100.000000 meters along route # Maximum depth: 1847.658910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.483387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705669; longitude = -122.100458; captureRadius = 10; duration = 84; initialDepth = 1796.953082; finalDepth = 1794.483387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.358013 # Actual altitude: 51.358013 # Commanded vehicle depth:1794.483387 # Seafloor depth:-1844.632713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1846.953082 meters looking forward 100.000000 meters along route # Maximum depth: 1849.772657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.953082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705082; longitude = -122.100016; captureRadius = 10; duration = 84; initialDepth = 1799.506225; finalDepth = 1796.953082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.024539 # Actual altitude: 51.024539 # Commanded vehicle depth:1796.953082 # Seafloor depth:-1847.977621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1849.506225 meters looking forward 100.000000 meters along route # Maximum depth: 1853.099284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.506225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704488; longitude = -122.099568; captureRadius = 10; duration = 84; initialDepth = 1797.458093; finalDepth = 1799.506225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.024539 # Actual altitude: 51.024539 # Commanded vehicle depth:1799.506225 # Seafloor depth:-1849.826527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1847.458093 meters looking forward 100.000000 meters along route # Maximum depth: 1854.400296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.458093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703893; longitude = -122.099120; captureRadius = 10; duration = 84; initialDepth = 1796.993787; finalDepth = 1797.458093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.390087 # Actual altitude: 56.390087 # Commanded vehicle depth:1797.458093 # Seafloor depth:-1853.848180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1846.993787 meters looking forward 100.000000 meters along route # Maximum depth: 1853.814289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.993787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703299; longitude = -122.098672; captureRadius = 10; duration = 84; initialDepth = 1801.157479; finalDepth = 1796.993787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.390087 # Actual altitude: 56.390087 # Commanded vehicle depth:1796.993787 # Seafloor depth:-1847.243174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1851.157479 meters looking forward 100.000000 meters along route # Maximum depth: 1853.814289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.157479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702695; longitude = -122.098217; captureRadius = 10; duration = 84; initialDepth = 1801.157479; finalDepth = 1801.157479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.651464 # Actual altitude: 52.651464 # Commanded vehicle depth:1801.157479 # Seafloor depth:-1853.808943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1851.157479 meters looking forward 100.000000 meters along route # Maximum depth: 1852.278813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.157479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702110; longitude = -122.097775; captureRadius = 10; duration = 84; initialDepth = 1799.701973; finalDepth = 1801.157479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.651464 # Actual altitude: 52.651464 # Commanded vehicle depth:1801.157479 # Seafloor depth:-1851.461799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1849.701973 meters looking forward 100.000000 meters along route # Maximum depth: 1852.111805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.701973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701515; longitude = -122.097327; captureRadius = 10; duration = 84; initialDepth = 1799.157786; finalDepth = 1799.701973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.985555 # Actual altitude: 51.985555 # Commanded vehicle depth:1799.701973 # Seafloor depth:-1851.687528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1849.157786 meters looking forward 100.000000 meters along route # Maximum depth: 1850.046205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.157786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700921; longitude = -122.096879; captureRadius = 10; duration = 84; initialDepth = 1799.053849; finalDepth = 1799.157786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.985555 # Actual altitude: 51.985555 # Commanded vehicle depth:1799.157786 # Seafloor depth:-1849.508784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1849.053849 meters looking forward 100.000000 meters along route # Maximum depth: 1850.376633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.053849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700327; longitude = -122.096431; captureRadius = 10; duration = 84; initialDepth = 1797.998898; finalDepth = 1799.053849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3509980000001 # Actual altitude: 50.3509980000001 # Commanded vehicle depth:1799.053849 # Seafloor depth:-1849.162311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1847.998898 meters looking forward 100.000000 meters along route # Maximum depth: 1849.970787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.998898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699722; longitude = -122.095975; captureRadius = 10; duration = 84; initialDepth = 1795.964652; finalDepth = 1797.998898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.39428 # Actual altitude: 51.39428 # Commanded vehicle depth:1797.998898 # Seafloor depth:-1849.393178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1845.964652 meters looking forward 100.000000 meters along route # Maximum depth: 1848.892171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.964652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699091; longitude = -122.095499; captureRadius = 10; duration = 84; initialDepth = 1795.279350; finalDepth = 1795.964652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7921230000002 # Actual altitude: 52.7921230000002 # Commanded vehicle depth:1795.964652 # Seafloor depth:-1848.756775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1845.279350 meters looking forward 100.000000 meters along route # Maximum depth: 1846.206367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.279350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.095024; captureRadius = 10; duration = 84; initialDepth = 1781.713020; finalDepth = 1795.279350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7921230000002 # Actual altitude: 52.7921230000002 # Commanded vehicle depth:1795.27935 # Seafloor depth:-1845.667345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 84.671703 meters # Minimum depth: 1831.713020 meters looking forward 100.000000 meters along route # Maximum depth: 1846.206367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.713020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697829; longitude = -122.094548; captureRadius = 10; duration = 84; initialDepth = 1779.916748; finalDepth = 1781.713020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6146940000001 # Actual altitude: 63.6146940000001 # Commanded vehicle depth:1781.71302 # Seafloor depth:-1845.327714 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 84.671703 meters # Minimum depth: 1829.916748 meters looking forward 100.000000 meters along route # Maximum depth: 1839.651899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.916748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697249; longitude = -122.094111; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1778.330155; finalDepth = 1779.916748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6146940000001 # Actual altitude: 63.6146940000001 # Commanded vehicle depth:1779.916748 # Seafloor depth:-1829.916748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1828.330155 meters looking forward 100.000000 meters along route # Maximum depth: 1837.496191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.330155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697423; longitude = -122.093518; captureRadius = 10; duration = 84; initialDepth = 1778.332934; finalDepth = 1778.330155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0159799999999 # Actual altitude: 58.0159799999999 # Commanded vehicle depth:1778.330155 # Seafloor depth:-1836.346135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1828.332934 meters looking forward 100.000000 meters along route # Maximum depth: 1835.388623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.332934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697687; longitude = -122.092622; captureRadius = 10; duration = 84; initialDepth = 1781.037926; finalDepth = 1778.332934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0159799999999 # Actual altitude: 58.0159799999999 # Commanded vehicle depth:1778.332934 # Seafloor depth:-1828.792403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1831.037926 meters looking forward 100.000000 meters along route # Maximum depth: 1833.987847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.037926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697950; longitude = -122.091726; captureRadius = 10; duration = 84; initialDepth = 1779.357733; finalDepth = 1781.037926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1220330000001 # Actual altitude: 52.1220330000001 # Commanded vehicle depth:1781.037926 # Seafloor depth:-1833.159959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1829.357733 meters looking forward 100.000000 meters along route # Maximum depth: 1831.446660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.357733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698214; longitude = -122.090829; captureRadius = 10; duration = 84; initialDepth = 1777.081623; finalDepth = 1779.357733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1220330000001 # Actual altitude: 52.1220330000001 # Commanded vehicle depth:1779.357733 # Seafloor depth:-1831.218374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1827.081623 meters looking forward 100.000000 meters along route # Maximum depth: 1829.704786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.081623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698477; longitude = -122.089933; captureRadius = 10; duration = 84; initialDepth = 1773.918211; finalDepth = 1777.081623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5569860000001 # Actual altitude: 52.5569860000001 # Commanded vehicle depth:1777.081623 # Seafloor depth:-1829.638609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1823.918211 meters looking forward 100.000000 meters along route # Maximum depth: 1827.414841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.918211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698741; longitude = -122.089037; captureRadius = 10; duration = 84; initialDepth = 1771.456620; finalDepth = 1773.918211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.012154 # Actual altitude: 53.012154 # Commanded vehicle depth:1773.918211 # Seafloor depth:-1826.930365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1821.456620 meters looking forward 100.000000 meters along route # Maximum depth: 1824.142922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.456620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699001; longitude = -122.088153; captureRadius = 10; duration = 84; initialDepth = 1769.272877; finalDepth = 1771.456620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.012154 # Actual altitude: 53.012154 # Commanded vehicle depth:1771.45662 # Seafloor depth:-1823.845227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 84.671703 meters # Minimum depth: 1819.272877 meters looking forward 100.000000 meters along route # Maximum depth: 1822.395229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.272877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699235; longitude = -122.087357; captureRadius = 10; duration = 84; initialDepth = 1767.971243; finalDepth = 1769.272877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3886070000001 # Actual altitude: 52.3886070000001 # Commanded vehicle depth:1769.272877 # Seafloor depth:-1820.852669 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 84.671703 meters # Minimum depth: 1817.971243 meters looking forward 100.000000 meters along route # Maximum depth: 1820.350346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.971243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699474; longitude = -122.086543; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1764.385130; finalDepth = 1767.971243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.579792 # Actual altitude: 51.579792 # Commanded vehicle depth:1767.971243 # Seafloor depth:-1819.163574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1814.385130 meters looking forward 100.000000 meters along route # Maximum depth: 1818.393918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.385130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699203; longitude = -122.085788; captureRadius = 10; duration = 84; initialDepth = 1763.105952; finalDepth = 1764.385130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9484470000002 # Actual altitude: 52.9484470000002 # Commanded vehicle depth:1764.38513 # Seafloor depth:-1817.333577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1813.105952 meters looking forward 100.000000 meters along route # Maximum depth: 1814.729872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.105952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698922; longitude = -122.085004; captureRadius = 10; duration = 84; initialDepth = 1760.689765; finalDepth = 1763.105952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9484470000002 # Actual altitude: 52.9484470000002 # Commanded vehicle depth:1763.105952 # Seafloor depth:-1814.150013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1810.689765 meters looking forward 100.000000 meters along route # Maximum depth: 1814.404157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.689765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698640; longitude = -122.084217; captureRadius = 10; duration = 84; initialDepth = 1758.827068; finalDepth = 1760.689765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.392278 # Actual altitude: 52.392278 # Commanded vehicle depth:1760.689765 # Seafloor depth:-1813.082043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1808.827068 meters looking forward 100.000000 meters along route # Maximum depth: 1812.506817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.827068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698360; longitude = -122.083436; captureRadius = 10; duration = 84; initialDepth = 1753.353934; finalDepth = 1758.827068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.587309 # Actual altitude: 52.587309 # Commanded vehicle depth:1758.827068 # Seafloor depth:-1811.414377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1803.353934 meters looking forward 100.000000 meters along route # Maximum depth: 1810.898935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.353934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698079; longitude = -122.082651; captureRadius = 10; duration = 84; initialDepth = 1749.517463; finalDepth = 1753.353934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6105460000001 # Actual altitude: 54.6105460000001 # Commanded vehicle depth:1753.353934 # Seafloor depth:-1807.964480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1799.517463 meters looking forward 100.000000 meters along route # Maximum depth: 1803.923486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.517463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697798; longitude = -122.081867; captureRadius = 10; duration = 84; initialDepth = 1743.105511; finalDepth = 1749.517463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6105460000001 # Actual altitude: 54.6105460000001 # Commanded vehicle depth:1749.517463 # Seafloor depth:-1802.871272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1793.105511 meters looking forward 100.000000 meters along route # Maximum depth: 1799.878211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.105511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697517; longitude = -122.081083; captureRadius = 10; duration = 84; initialDepth = 1738.781378; finalDepth = 1743.105511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2148629999999 # Actual altitude: 56.2148629999999 # Commanded vehicle depth:1743.105511 # Seafloor depth:-1799.320374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1788.781378 meters looking forward 100.000000 meters along route # Maximum depth: 1794.227807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.781378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697236; longitude = -122.080299; captureRadius = 10; duration = 84; initialDepth = 1729.203469; finalDepth = 1738.781378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2148629999999 # Actual altitude: 56.2148629999999 # Commanded vehicle depth:1738.781378 # Seafloor depth:-1792.504883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 84.671703 meters # Minimum depth: 1779.203469 meters looking forward 100.000000 meters along route # Maximum depth: 1789.606710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.203469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696955; longitude = -122.079515; captureRadius = 10; duration = 84; initialDepth = 1717.929156; finalDepth = 1729.203469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.672507 # Actual altitude: 57.672507 # Commanded vehicle depth:1729.203469 # Seafloor depth:-1786.875976 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 84.671703 meters # Minimum depth: 1767.929156 meters looking forward 100.000000 meters along route # Maximum depth: 1779.203469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.929156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696655; longitude = -122.078679; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1713.453278; finalDepth = 1717.929156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5924200000002 # Actual altitude: 59.5924200000002 # Commanded vehicle depth:1717.929156 # Seafloor depth:-1777.521576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1763.453278 meters looking forward 100.000000 meters along route # Maximum depth: 1768.960658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.453278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696470; longitude = -122.077610; captureRadius = 10; duration = 84; initialDepth = 1712.399278; finalDepth = 1713.453278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5924200000002 # Actual altitude: 59.5924200000002 # Commanded vehicle depth:1713.453278 # Seafloor depth:-1767.326222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1762.399278 meters looking forward 100.000000 meters along route # Maximum depth: 1763.506543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.399278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696315; longitude = -122.076714; captureRadius = 10; duration = 84; initialDepth = 1709.772205; finalDepth = 1712.399278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.872944 # Actual altitude: 53.872944 # Commanded vehicle depth:1712.399278 # Seafloor depth:-1763.223908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1759.772205 meters looking forward 100.000000 meters along route # Maximum depth: 1763.823388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.772205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696160; longitude = -122.075818; captureRadius = 10; duration = 84; initialDepth = 1703.548355; finalDepth = 1709.772205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.051183 # Actual altitude: 54.051183 # Commanded vehicle depth:1709.772205 # Seafloor depth:-1763.823388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1753.548355 meters looking forward 100.000000 meters along route # Maximum depth: 1759.871766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.548355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696005; longitude = -122.074921; captureRadius = 10; duration = 84; initialDepth = 1695.888499; finalDepth = 1703.548355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.680906 # Actual altitude: 55.680906 # Commanded vehicle depth:1703.548355 # Seafloor depth:-1759.229261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1745.888499 meters looking forward 100.000000 meters along route # Maximum depth: 1754.973899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.888499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695847; longitude = -122.074005; captureRadius = 10; duration = 84; initialDepth = 1692.571067; finalDepth = 1695.888499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4159770000001 # Actual altitude: 57.4159770000001 # Commanded vehicle depth:1695.888499 # Seafloor depth:-1753.304476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 229.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1742.571067 meters looking forward 100.000000 meters along route # Maximum depth: 1746.262273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.571067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695695; longitude = -122.073129; captureRadius = 10; duration = 84; initialDepth = 1691.432440; finalDepth = 1692.571067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4159770000001 # Actual altitude: 57.4159770000001 # Commanded vehicle depth:1692.571067 # Seafloor depth:-1745.749878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 229.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1741.432440 meters looking forward 100.000000 meters along route # Maximum depth: 1743.542965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.432440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695540; longitude = -122.072233; captureRadius = 10; duration = 84; initialDepth = 1689.075084; finalDepth = 1691.432440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.178811 # Actual altitude: 53.178811 # Commanded vehicle depth:1691.43244 # Seafloor depth:-1741.876921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1739.075084 meters looking forward 100.000000 meters along route # Maximum depth: 1742.676256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.075084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695396; longitude = -122.071399; captureRadius = 10; duration = 84; initialDepth = 1684.749899; finalDepth = 1689.075084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3330739999999 # Actual altitude: 53.3330739999999 # Commanded vehicle depth:1689.075084 # Seafloor depth:-1742.408158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1734.749899 meters looking forward 100.000000 meters along route # Maximum depth: 1739.075084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.749899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695250; longitude = -122.070552; captureRadius = 10; duration = 84; initialDepth = 1685.665563; finalDepth = 1684.749899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.470869 # Actual altitude: 53.470869 # Commanded vehicle depth:1684.749899 # Seafloor depth:-1738.220768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1735.665563 meters looking forward 100.000000 meters along route # Maximum depth: 1737.305952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.665563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695095; longitude = -122.069656; captureRadius = 10; duration = 84; initialDepth = 1682.546476; finalDepth = 1685.665563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.470869 # Actual altitude: 53.470869 # Commanded vehicle depth:1685.665563 # Seafloor depth:-1736.758271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1732.546476 meters looking forward 100.000000 meters along route # Maximum depth: 1736.702034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.546476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694940; longitude = -122.068760; captureRadius = 10; duration = 84; initialDepth = 1684.798142; finalDepth = 1682.546476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6534360000001 # Actual altitude: 53.6534360000001 # Commanded vehicle depth:1682.546476 # Seafloor depth:-1736.199912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1734.798142 meters looking forward 100.000000 meters along route # Maximum depth: 1738.871389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.798142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694785; longitude = -122.067864; captureRadius = 10; duration = 84; initialDepth = 1688.516904; finalDepth = 1684.798142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6534360000001 # Actual altitude: 53.6534360000001 # Commanded vehicle depth:1684.798142 # Seafloor depth:-1735.073566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1738.516904 meters looking forward 100.000000 meters along route # Maximum depth: 1742.974567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.516904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694630; longitude = -122.066967; captureRadius = 10; duration = 84; initialDepth = 1690.756283; finalDepth = 1688.516904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3109749999999 # Actual altitude: 50.3109749999999 # Commanded vehicle depth:1688.516904 # Seafloor depth:-1738.827879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1740.756283 meters looking forward 100.000000 meters along route # Maximum depth: 1742.981654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.756283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694475; longitude = -122.066071; captureRadius = 10; duration = 84; initialDepth = 1684.195904; finalDepth = 1690.756283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.225371 # Actual altitude: 52.225371 # Commanded vehicle depth:1690.756283 # Seafloor depth:-1742.981654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1734.195904 meters looking forward 100.000000 meters along route # Maximum depth: 1742.529121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.195904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694315; longitude = -122.065146; captureRadius = 10; duration = 84; initialDepth = 1679.285530; finalDepth = 1684.195904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2342350000001 # Actual altitude: 58.2342350000001 # Commanded vehicle depth:1684.195904 # Seafloor depth:-1742.430139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1729.285530 meters looking forward 100.000000 meters along route # Maximum depth: 1734.195904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.285530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694165; longitude = -122.064279; captureRadius = 10; duration = 84; initialDepth = 1671.822141; finalDepth = 1679.285530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2342350000001 # Actual altitude: 58.2342350000001 # Commanded vehicle depth:1679.28553 # Seafloor depth:-1733.076203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1721.822141 meters looking forward 100.000000 meters along route # Maximum depth: 1729.285530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.822141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694010; longitude = -122.063382; captureRadius = 10; duration = 84; initialDepth = 1659.521048; finalDepth = 1671.822141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9817529999998 # Actual altitude: 55.9817529999998 # Commanded vehicle depth:1671.822141 # Seafloor depth:-1727.803894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1709.521048 meters looking forward 100.000000 meters along route # Maximum depth: 1721.982956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.521048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693855; longitude = -122.062486; captureRadius = 10; duration = 84; initialDepth = 1650.613880; finalDepth = 1659.521048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.138815 # Actual altitude: 62.138815 # Commanded vehicle depth:1659.521048 # Seafloor depth:-1721.659863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1700.613880 meters looking forward 100.000000 meters along route # Maximum depth: 1709.521048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.613880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693700; longitude = -122.061590; captureRadius = 10; duration = 84; initialDepth = 1630.501228; finalDepth = 1650.613880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.138815 # Actual altitude: 62.138815 # Commanded vehicle depth:1650.61388 # Seafloor depth:-1708.799499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1680.501228 meters looking forward 100.000000 meters along route # Maximum depth: 1700.613880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.501228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693545; longitude = -122.060694; captureRadius = 10; duration = 84; initialDepth = 1613.041385; finalDepth = 1630.501228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.542363 # Actual altitude: 67.542363 # Commanded vehicle depth:1630.501228 # Seafloor depth:-1698.043591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 84.671703 meters # Minimum depth: 1663.041385 meters looking forward 100.000000 meters along route # Maximum depth: 1683.124959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.041385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693390; longitude = -122.059797; captureRadius = 10; duration = 84; initialDepth = 1612.709503; finalDepth = 1613.041385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.542363 # Actual altitude: 67.542363 # Commanded vehicle depth:1613.041385 # Seafloor depth:-1677.602841 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 84.671703 meters # Minimum depth: 1662.709503 meters looking forward 100.000000 meters along route # Maximum depth: 1669.685664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.709503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058942; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1619.685664; finalDepth = 1612.709503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5614559999999 # Actual altitude: 64.5614559999999 # Commanded vehicle depth:1612.709503 # Seafloor depth:-1664.450439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1669.685664 meters looking forward 100.000000 meters along route # Maximum depth: 1676.819615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.685664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.058117; captureRadius = 10; duration = 84; initialDepth = 1626.819615; finalDepth = 1619.685664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7409359999999 # Actual altitude: 51.7409359999999 # Commanded vehicle depth:1619.685664 # Seafloor depth:-1670.409114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1676.819615 meters looking forward 100.000000 meters along route # Maximum depth: 1679.093162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.819615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.057221; captureRadius = 10; duration = 84; initialDepth = 1627.761930; finalDepth = 1626.819615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8942099999999 # Actual altitude: 50.8942099999999 # Commanded vehicle depth:1626.819615 # Seafloor depth:-1677.713825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1677.761930 meters looking forward 100.000000 meters along route # Maximum depth: 1680.656474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.761930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.056324; captureRadius = 10; duration = 84; initialDepth = 1627.320556; finalDepth = 1627.761930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8942099999999 # Actual altitude: 50.8942099999999 # Commanded vehicle depth:1627.76193 # Seafloor depth:-1678.272025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1677.320556 meters looking forward 100.000000 meters along route # Maximum depth: 1680.754806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.320556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.055428; captureRadius = 10; duration = 84; initialDepth = 1627.320556; finalDepth = 1627.320556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43425 # Actual altitude: 53.43425 # Commanded vehicle depth:1627.320556 # Seafloor depth:-1680.754806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1677.320556 meters looking forward 100.000000 meters along route # Maximum depth: 1680.285796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.320556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.054532; captureRadius = 10; duration = 84; initialDepth = 1625.848280; finalDepth = 1627.320556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43425 # Actual altitude: 53.43425 # Commanded vehicle depth:1627.320556 # Seafloor depth:-1677.743254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1675.848280 meters looking forward 100.000000 meters along route # Maximum depth: 1677.883952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.848280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.053636; captureRadius = 10; duration = 84; initialDepth = 1623.721226; finalDepth = 1625.848280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.216856 # Actual altitude: 51.216856 # Commanded vehicle depth:1625.84828 # Seafloor depth:-1677.065136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1673.721226 meters looking forward 100.000000 meters along route # Maximum depth: 1675.848280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.721226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.052740; captureRadius = 10; duration = 84; initialDepth = 1617.674675; finalDepth = 1623.721226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8074240000001 # Actual altitude: 51.8074240000001 # Commanded vehicle depth:1623.721226 # Seafloor depth:-1675.528650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1667.674675 meters looking forward 100.000000 meters along route # Maximum depth: 1673.721226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.674675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.051843; captureRadius = 10; duration = 84; initialDepth = 1616.755571; finalDepth = 1617.674675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.600226 # Actual altitude: 55.600226 # Commanded vehicle depth:1617.674675 # Seafloor depth:-1673.274901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1666.755571 meters looking forward 100.000000 meters along route # Maximum depth: 1667.675127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.755571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050947; captureRadius = 10; duration = 84; initialDepth = 1615.315284; finalDepth = 1616.755571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.600226 # Actual altitude: 55.600226 # Commanded vehicle depth:1616.755571 # Seafloor depth:-1667.001755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1665.315284 meters looking forward 100.000000 meters along route # Maximum depth: 1666.901274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.315284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.050051; captureRadius = 10; duration = 84; initialDepth = 1614.089873; finalDepth = 1615.315284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.92857 # Actual altitude: 50.92857 # Commanded vehicle depth:1615.315284 # Seafloor depth:-1666.243854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1664.089873 meters looking forward 100.000000 meters along route # Maximum depth: 1666.072341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.089873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.049155; captureRadius = 10; duration = 84; initialDepth = 1608.843772; finalDepth = 1614.089873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8719230000002 # Actual altitude: 51.8719230000002 # Commanded vehicle depth:1614.089873 # Seafloor depth:-1665.961796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1658.843772 meters looking forward 100.000000 meters along route # Maximum depth: 1664.089873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.843772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.048258; captureRadius = 10; duration = 84; initialDepth = 1600.599677; finalDepth = 1608.843772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4840060000001 # Actual altitude: 54.4840060000001 # Commanded vehicle depth:1608.843772 # Seafloor depth:-1663.327778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1650.599677 meters looking forward 100.000000 meters along route # Maximum depth: 1658.843772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.599677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.047362; captureRadius = 10; duration = 84; initialDepth = 1592.252707; finalDepth = 1600.599677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5272010000001 # Actual altitude: 57.5272010000001 # Commanded vehicle depth:1600.599677 # Seafloor depth:-1658.126878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1642.252707 meters looking forward 100.000000 meters along route # Maximum depth: 1650.599677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.252707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.046466; captureRadius = 10; duration = 84; initialDepth = 1586.106722; finalDepth = 1592.252707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5272010000001 # Actual altitude: 57.5272010000001 # Commanded vehicle depth:1592.252707 # Seafloor depth:-1649.129762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1636.106722 meters looking forward 100.000000 meters along route # Maximum depth: 1642.252707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.106722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.045570; captureRadius = 10; duration = 84; initialDepth = 1576.586698; finalDepth = 1586.106722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8770549999999 # Actual altitude: 56.8770549999999 # Commanded vehicle depth:1586.106722 # Seafloor depth:-1640.909298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 84.671703 meters # Minimum depth: 1626.586698 meters looking forward 100.000000 meters along route # Maximum depth: 1636.357857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.586698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.044673; captureRadius = 10; duration = 84; initialDepth = 1573.342946; finalDepth = 1576.586698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7864909999998 # Actual altitude: 58.7864909999998 # Commanded vehicle depth:1576.586698 # Seafloor depth:-1635.373189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 84.671703 meters # Minimum depth: 1623.342946 meters looking forward 100.000000 meters along route # Maximum depth: 1627.590174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.342946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693242; longitude = -122.043806; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1566.340346; finalDepth = 1573.342946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7864909999998 # Actual altitude: 58.7864909999998 # Commanded vehicle depth:1573.342946 # Seafloor depth:-1627.046539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1616.340346 meters looking forward 100.000000 meters along route # Maximum depth: 1623.376900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.340346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693414; longitude = -122.042972; captureRadius = 10; duration = 84; initialDepth = 1563.139053; finalDepth = 1566.340346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9802710000001 # Actual altitude: 56.9802710000001 # Commanded vehicle depth:1566.340346 # Seafloor depth:-1623.320617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1613.139053 meters looking forward 100.000000 meters along route # Maximum depth: 1616.734721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.139053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693594; longitude = -122.042097; captureRadius = 10; duration = 84; initialDepth = 1564.556847; finalDepth = 1563.139053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9802710000001 # Actual altitude: 56.9802710000001 # Commanded vehicle depth:1563.139053 # Seafloor depth:-1616.339326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1614.556847 meters looking forward 100.000000 meters along route # Maximum depth: 1616.453438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.556847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693778; longitude = -122.041201; captureRadius = 10; duration = 84; initialDepth = 1565.181691; finalDepth = 1564.556847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2002729999999 # Actual altitude: 53.2002729999999 # Commanded vehicle depth:1564.556847 # Seafloor depth:-1615.246412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1615.181691 meters looking forward 100.000000 meters along route # Maximum depth: 1619.695023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.181691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693963; longitude = -122.040304; captureRadius = 10; duration = 84; initialDepth = 1568.526217; finalDepth = 1565.181691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5222409999999 # Actual altitude: 51.5222409999999 # Commanded vehicle depth:1565.181691 # Seafloor depth:-1616.703932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1618.526217 meters looking forward 100.000000 meters along route # Maximum depth: 1623.474894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.526217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694147; longitude = -122.039408; captureRadius = 10; duration = 84; initialDepth = 1564.149577; finalDepth = 1568.526217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0616289999998 # Actual altitude: 52.0616289999998 # Commanded vehicle depth:1568.526217 # Seafloor depth:-1620.587846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1614.149577 meters looking forward 100.000000 meters along route # Maximum depth: 1618.769358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.149577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694332; longitude = -122.038512; captureRadius = 10; duration = 84; initialDepth = 1562.483328; finalDepth = 1564.149577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6225930000001 # Actual altitude: 53.6225930000001 # Commanded vehicle depth:1564.149577 # Seafloor depth:-1617.772170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1612.483328 meters looking forward 100.000000 meters along route # Maximum depth: 1615.615396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.483328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694516; longitude = -122.037616; captureRadius = 10; duration = 84; initialDepth = 1556.799587; finalDepth = 1562.483328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6225930000001 # Actual altitude: 53.6225930000001 # Commanded vehicle depth:1562.483328 # Seafloor depth:-1615.296980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1606.799587 meters looking forward 100.000000 meters along route # Maximum depth: 1612.536737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.799587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694701; longitude = -122.036719; captureRadius = 10; duration = 84; initialDepth = 1555.875563; finalDepth = 1556.799587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.013103 # Actual altitude: 55.013103 # Commanded vehicle depth:1556.799587 # Seafloor depth:-1611.812690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1605.875563 meters looking forward 100.000000 meters along route # Maximum depth: 1607.078309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.875563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694885; longitude = -122.035823; captureRadius = 10; duration = 84; initialDepth = 1551.783207; finalDepth = 1555.875563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.013103 # Actual altitude: 55.013103 # Commanded vehicle depth:1555.875563 # Seafloor depth:-1606.188256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1601.783207 meters looking forward 100.000000 meters along route # Maximum depth: 1606.020144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.783207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695070; longitude = -122.034927; captureRadius = 10; duration = 84; initialDepth = 1545.500127; finalDepth = 1551.783207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7959470000001 # Actual altitude: 53.7959470000001 # Commanded vehicle depth:1551.783207 # Seafloor depth:-1605.579154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1595.500127 meters looking forward 100.000000 meters along route # Maximum depth: 1602.312662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.500127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695254; longitude = -122.034031; captureRadius = 10; duration = 84; initialDepth = 1539.829323; finalDepth = 1545.500127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6169580000001 # Actual altitude: 55.6169580000001 # Commanded vehicle depth:1545.500127 # Seafloor depth:-1601.117085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1589.829323 meters looking forward 100.000000 meters along route # Maximum depth: 1595.500127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.829323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695439; longitude = -122.033134; captureRadius = 10; duration = 84; initialDepth = 1538.067460; finalDepth = 1539.829323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6169580000001 # Actual altitude: 55.6169580000001 # Commanded vehicle depth:1539.829323 # Seafloor depth:-1594.740790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1588.067460 meters looking forward 100.000000 meters along route # Maximum depth: 1590.584323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.067460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695623; longitude = -122.032238; captureRadius = 10; duration = 84; initialDepth = 1531.363553; finalDepth = 1538.067460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9114670000001 # Actual altitude: 54.9114670000001 # Commanded vehicle depth:1538.06746 # Seafloor depth:-1590.183757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1581.363553 meters looking forward 100.000000 meters along route # Maximum depth: 1588.149479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.363553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695808; longitude = -122.031342; captureRadius = 10; duration = 84; initialDepth = 1526.176236; finalDepth = 1531.363553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9904290000002 # Actual altitude: 55.9904290000002 # Commanded vehicle depth:1531.363553 # Seafloor depth:-1587.353982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1576.176236 meters looking forward 100.000000 meters along route # Maximum depth: 1581.363553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.176236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695992; longitude = -122.030446; captureRadius = 10; duration = 84; initialDepth = 1522.515438; finalDepth = 1526.176236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9904290000002 # Actual altitude: 55.9904290000002 # Commanded vehicle depth:1526.176236 # Seafloor depth:-1580.436319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 84.671703 meters # Minimum depth: 1572.515438 meters looking forward 100.000000 meters along route # Maximum depth: 1576.176236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.515438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696177; longitude = -122.029550; captureRadius = 10; duration = 84; initialDepth = 1521.947866; finalDepth = 1522.515438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2600829999999 # Actual altitude: 54.2600829999999 # Commanded vehicle depth:1522.515438 # Seafloor depth:-1575.661726 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 84.671703 meters # Minimum depth: 1571.947866 meters looking forward 100.000000 meters along route # Maximum depth: 1574.867062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.947866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696358; longitude = -122.028670; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1520.243937; finalDepth = 1521.947866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1462880000001 # Actual altitude: 53.1462880000001 # Commanded vehicle depth:1521.947866 # Seafloor depth:-1572.715149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1570.243937 meters looking forward 100.000000 meters along route # Maximum depth: 1573.535808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.243937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696658; longitude = -122.028071; captureRadius = 10; duration = 84; initialDepth = 1507.101557; finalDepth = 1520.243937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5996660000001 # Actual altitude: 51.5996660000001 # Commanded vehicle depth:1520.243937 # Seafloor depth:-1571.843603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1557.101557 meters looking forward 100.000000 meters along route # Maximum depth: 1571.886926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.101557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697018; longitude = -122.027350; captureRadius = 10; duration = 84; initialDepth = 1501.160234; finalDepth = 1507.101557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8320659999999 # Actual altitude: 61.8320659999999 # Commanded vehicle depth:1507.101557 # Seafloor depth:-1568.933623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1551.160234 meters looking forward 100.000000 meters along route # Maximum depth: 1559.573407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697379; longitude = -122.026629; captureRadius = 10; duration = 84; initialDepth = 1501.160234; finalDepth = 1501.160234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8320659999999 # Actual altitude: 61.8320659999999 # Commanded vehicle depth:1501.160234 # Seafloor depth:-1557.022315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1551.160234 meters looking forward 100.000000 meters along route # Maximum depth: 1562.178516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697739; longitude = -122.025909; captureRadius = 10; duration = 84; initialDepth = 1508.208472; finalDepth = 1501.160234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.862081 # Actual altitude: 55.862081 # Commanded vehicle depth:1501.160234 # Seafloor depth:-1552.334577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1558.208472 meters looking forward 100.000000 meters along route # Maximum depth: 1562.178516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.208472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698103; longitude = -122.025180; captureRadius = 10; duration = 84; initialDepth = 1504.309845; finalDepth = 1508.208472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.859704 # Actual altitude: 53.859704 # Commanded vehicle depth:1508.208472 # Seafloor depth:-1562.068176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1554.309845 meters looking forward 100.000000 meters along route # Maximum depth: 1559.077767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.309845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698460; longitude = -122.024467; captureRadius = 10; duration = 84; initialDepth = 1493.432953; finalDepth = 1504.309845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.859704 # Actual altitude: 53.859704 # Commanded vehicle depth:1504.309845 # Seafloor depth:-1557.991535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1543.432953 meters looking forward 100.000000 meters along route # Maximum depth: 1555.579289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.432953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698820; longitude = -122.023746; captureRadius = 10; duration = 84; initialDepth = 1491.978757; finalDepth = 1493.432953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5098680000001 # Actual altitude: 59.5098680000001 # Commanded vehicle depth:1493.432953 # Seafloor depth:-1552.942821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 238.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1541.978757 meters looking forward 100.000000 meters along route # Maximum depth: 1544.623753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.978757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699181; longitude = -122.023026; captureRadius = 10; duration = 84; initialDepth = 1491.630117; finalDepth = 1491.978757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5098680000001 # Actual altitude: 59.5098680000001 # Commanded vehicle depth:1491.978757 # Seafloor depth:-1543.616909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 238.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 84.671703 meters # Minimum depth: 1541.630117 meters looking forward 100.000000 meters along route # Maximum depth: 1543.975688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.630117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699560; longitude = -122.022268; captureRadius = 10; duration = 84; initialDepth = 1482.356888; finalDepth = 1491.630117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.638152 # Actual altitude: 51.638152 # Commanded vehicle depth:1491.630117 # Seafloor depth:-1542.158835 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 84.671703 meters # Minimum depth: 1532.356888 meters looking forward 100.000000 meters along route # Maximum depth: 1541.395549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.356888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699920; longitude = -122.021548; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1474.037038; finalDepth = 1482.356888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.63356 # Actual altitude: 58.63356 # Commanded vehicle depth:1482.356888 # Seafloor depth:-1540.990448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.671703 meters # Minimum depth: 1524.037038 meters looking forward 100.000000 meters along route # Maximum depth: 1534.096317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.037038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700755; longitude = -122.020587; captureRadius = 10; duration = 84; initialDepth = 1469.806033; finalDepth = 1474.037038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.63356 # Actual altitude: 58.63356 # Commanded vehicle depth:1474.037038 # Seafloor depth:-1532.066256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.671703 meters # Minimum depth: 1519.806033 meters looking forward 100.000000 meters along route # Maximum depth: 1524.116982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.806033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701254; longitude = -122.020013; captureRadius = 10; duration = 84; initialDepth = 1463.830960; finalDepth = 1469.806033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0292180000001 # Actual altitude: 58.0292180000001 # Commanded vehicle depth:1469.806033 # Seafloor depth:-1523.987503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.671703 meters # Minimum depth: 1513.830960 meters looking forward 100.000000 meters along route # Maximum depth: 1521.058118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.830960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701826; longitude = -122.019355; captureRadius = 10; duration = 84; initialDepth = 1463.923204; finalDepth = 1463.830960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3584800000001 # Actual altitude: 55.3584800000001 # Commanded vehicle depth:1463.83096 # Seafloor depth:-1519.189440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 84.671703 meters # Minimum depth: 1513.923204 meters looking forward 100.000000 meters along route # Maximum depth: 1515.755254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.923204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702335; longitude = -122.018769; captureRadius = 10; duration = 84; initialDepth = 1458.864197; finalDepth = 1463.923204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3584800000001 # Actual altitude: 55.3584800000001 # Commanded vehicle depth:1463.923204 # Seafloor depth:-1514.696230 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 84.671703 meters # Minimum depth: 1508.864197 meters looking forward 100.000000 meters along route # Maximum depth: 1517.307587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.864197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702887; longitude = -122.018134; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1447.376832; finalDepth = 1458.864197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4433899999999 # Actual altitude: 58.4433899999999 # Commanded vehicle depth:1458.864197 # Seafloor depth:-1517.307587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.671703 meters # Minimum depth: 1497.376832 meters looking forward 100.000000 meters along route # Maximum depth: 1510.805069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.376832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703809; longitude = -122.017338; captureRadius = 10; duration = 84; initialDepth = 1428.516605; finalDepth = 1447.376832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5499170000001 # Actual altitude: 60.5499170000001 # Commanded vehicle depth:1447.376832 # Seafloor depth:-1507.926749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.671703 meters # Minimum depth: 1478.516605 meters looking forward 100.000000 meters along route # Maximum depth: 1497.710902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.516605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704408; longitude = -122.016821; captureRadius = 10; duration = 84; initialDepth = 1428.516605; finalDepth = 1428.516605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9388630000001 # Actual altitude: 65.9388630000001 # Commanded vehicle depth:1428.516605 # Seafloor depth:-1494.455468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.671703 meters # Minimum depth: 1478.516605 meters looking forward 100.000000 meters along route # Maximum depth: 1482.455136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.516605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704976; longitude = -122.016330; captureRadius = 10; duration = 84; initialDepth = 1425.150441; finalDepth = 1428.516605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9388630000001 # Actual altitude: 65.9388630000001 # Commanded vehicle depth:1428.516605 # Seafloor depth:-1481.306333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 84.671703 meters # Minimum depth: 1475.150441 meters looking forward 100.000000 meters along route # Maximum depth: 1479.465743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.150441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705579; longitude = -122.015810; captureRadius = 10; duration = 84; initialDepth = 1423.978455; finalDepth = 1425.150441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.271045 # Actual altitude: 54.271045 # Commanded vehicle depth:1425.150441 # Seafloor depth:-1479.421486 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 84.671703 meters # Minimum depth: 1473.978455 meters looking forward 100.000000 meters along route # Maximum depth: 1478.116689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.978455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706152; longitude = -122.015315; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1417.935230; finalDepth = 1423.978455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.271045 # Actual altitude: 54.271045 # Commanded vehicle depth:1423.978455 # Seafloor depth:-1473.978455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1467.935230 meters looking forward 100.000000 meters along route # Maximum depth: 1474.818607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.935230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706661; longitude = -122.015070; captureRadius = 10; duration = 84; initialDepth = 1411.485429; finalDepth = 1417.935230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5170719999999 # Actual altitude: 56.5170719999999 # Commanded vehicle depth:1417.93523 # Seafloor depth:-1474.452302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1461.485429 meters looking forward 100.000000 meters along route # Maximum depth: 1468.849192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.485429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707291; longitude = -122.014765; captureRadius = 10; duration = 84; initialDepth = 1403.547039; finalDepth = 1411.485429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5170719999999 # Actual altitude: 56.5170719999999 # Commanded vehicle depth:1411.485429 # Seafloor depth:-1467.369042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1453.547039 meters looking forward 100.000000 meters along route # Maximum depth: 1463.049923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.547039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707922; longitude = -122.014461; captureRadius = 10; duration = 84; initialDepth = 1394.619242; finalDepth = 1403.547039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.118526 # Actual altitude: 57.118526 # Commanded vehicle depth:1403.547039 # Seafloor depth:-1460.665565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1444.619242 meters looking forward 100.000000 meters along route # Maximum depth: 1455.181125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.619242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708553; longitude = -122.014156; captureRadius = 10; duration = 84; initialDepth = 1390.111650; finalDepth = 1394.619242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5618830000001 # Actual altitude: 60.5618830000001 # Commanded vehicle depth:1394.619242 # Seafloor depth:-1455.181125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1440.111650 meters looking forward 100.000000 meters along route # Maximum depth: 1445.399489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.111650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709184; longitude = -122.013852; captureRadius = 10; duration = 84; initialDepth = 1381.521930; finalDepth = 1390.111650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5618830000001 # Actual altitude: 60.5618830000001 # Commanded vehicle depth:1390.11165 # Seafloor depth:-1445.399489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.671703 meters # Minimum depth: 1431.521930 meters looking forward 100.000000 meters along route # Maximum depth: 1441.612567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.521930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709815; longitude = -122.013547; captureRadius = 10; duration = 84; initialDepth = 1382.367432; finalDepth = 1381.521930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2971249999998 # Actual altitude: 56.2971249999998 # Commanded vehicle depth:1381.52193 # Seafloor depth:-1437.819055 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 84.671703 meters # Minimum depth: 1432.367432 meters looking forward 100.000000 meters along route # Maximum depth: 1447.461825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.367432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710455; longitude = -122.013238; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1396.315088; finalDepth = 1382.367432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2971249999998 # Actual altitude: 56.2971249999998 # Commanded vehicle depth:1382.367432 # Seafloor depth:-1432.367432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.671703 meters # Minimum depth: 1446.315088 meters looking forward 100.000000 meters along route # Maximum depth: 1456.797711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.315088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711617; longitude = -122.012851; captureRadius = 10; duration = 84; initialDepth = 1406.587173; finalDepth = 1396.315088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456365 # Actual altitude: 51.456365 # Commanded vehicle depth:1396.315088 # Seafloor depth:-1447.771453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.671703 meters # Minimum depth: 1456.587173 meters looking forward 100.000000 meters along route # Maximum depth: 1460.258241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.587173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712338; longitude = -122.012610; captureRadius = 10; duration = 84; initialDepth = 1407.758336; finalDepth = 1406.587173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456365 # Actual altitude: 51.456365 # Commanded vehicle depth:1406.587173 # Seafloor depth:-1457.381677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.671703 meters # Minimum depth: 1457.758336 meters looking forward 100.000000 meters along route # Maximum depth: 1460.324258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.758336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713059; longitude = -122.012370; captureRadius = 10; duration = 84; initialDepth = 1403.465824; finalDepth = 1407.758336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9644289999999 # Actual altitude: 50.9644289999999 # Commanded vehicle depth:1407.758336 # Seafloor depth:-1458.722765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.671703 meters # Minimum depth: 1453.465824 meters looking forward 100.000000 meters along route # Maximum depth: 1458.088898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.465824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.713780; longitude = -122.012130; captureRadius = 10; duration = 84; initialDepth = 1390.269345; finalDepth = 1403.465824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.300888 # Actual altitude: 54.300888 # Commanded vehicle depth:1403.465824 # Seafloor depth:-1457.766712 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 84.671703 meters # Minimum depth: 1440.269345 meters looking forward 100.000000 meters along route # Maximum depth: 1452.514099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.269345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714462; longitude = -122.011902; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1381.089524; finalDepth = 1390.269345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2447540000001 # Actual altitude: 62.2447540000001 # Commanded vehicle depth:1390.269345 # Seafloor depth:-1452.514099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 248.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.671703 meters # Minimum depth: 1431.089524 meters looking forward 100.000000 meters along route # Maximum depth: 1440.934265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.089524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.715435; longitude = -122.011513; captureRadius = 10; duration = 84; initialDepth = 1379.948363; finalDepth = 1381.089524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2447540000001 # Actual altitude: 62.2447540000001 # Commanded vehicle depth:1381.089524 # Seafloor depth:-1440.217984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 248.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.671703 meters # Minimum depth: 1429.948363 meters looking forward 100.000000 meters along route # Maximum depth: 1433.280674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.948363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716123; longitude = -122.011238; captureRadius = 10; duration = 84; initialDepth = 1376.634817; finalDepth = 1379.948363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1284599999999 # Actual altitude: 59.1284599999999 # Commanded vehicle depth:1379.948363 # Seafloor depth:-1431.614541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.671703 meters # Minimum depth: 1426.634817 meters looking forward 100.000000 meters along route # Maximum depth: 1430.418437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.634817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716844; longitude = -122.010949; captureRadius = 10; duration = 84; initialDepth = 1371.807441; finalDepth = 1376.634817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2689919999998 # Actual altitude: 53.2689919999998 # Commanded vehicle depth:1376.634817 # Seafloor depth:-1429.903809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.671703 meters # Minimum depth: 1421.807441 meters looking forward 100.000000 meters along route # Maximum depth: 1427.674377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.807441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.717564; longitude = -122.010661; captureRadius = 10; duration = 84; initialDepth = 1367.730537; finalDepth = 1371.807441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.62482 # Actual altitude: 53.62482 # Commanded vehicle depth:1371.807441 # Seafloor depth:-1425.432261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 84.671703 meters # Minimum depth: 1417.730537 meters looking forward 100.000000 meters along route # Maximum depth: 1422.305352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.730537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718235; longitude = -122.010393; captureRadius = 10; duration = 84; initialDepth = 1362.195714; finalDepth = 1367.730537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6975970000001 # Actual altitude: 53.6975970000001 # Commanded vehicle depth:1367.730537 # Seafloor depth:-1421.428134 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 84.671703 meters # Minimum depth: 1412.195714 meters looking forward 100.000000 meters along route # Maximum depth: 1418.193694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.195714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718914; longitude = -122.010121; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1358.282310; finalDepth = 1362.195714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576137 # Actual altitude: 54.576137 # Commanded vehicle depth:1362.195714 # Seafloor depth:-1416.771851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.671703 meters # Minimum depth: 1408.282310 meters looking forward 100.000000 meters along route # Maximum depth: 1412.704767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.282310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.719457; longitude = -122.010031; captureRadius = 10; duration = 84; initialDepth = 1352.649682; finalDepth = 1358.282310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.576137 # Actual altitude: 54.576137 # Commanded vehicle depth:1358.28231 # Seafloor depth:-1411.346887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.671703 meters # Minimum depth: 1402.649682 meters looking forward 100.000000 meters along route # Maximum depth: 1408.282310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.649682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720178; longitude = -122.009910; captureRadius = 10; duration = 84; initialDepth = 1337.086097; finalDepth = 1352.649682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7111299999999 # Actual altitude: 54.7111299999999 # Commanded vehicle depth:1352.649682 # Seafloor depth:-1407.360812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 84.671703 meters # Minimum depth: 1387.086097 meters looking forward 100.000000 meters along route # Maximum depth: 1402.705749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.086097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720899; longitude = -122.009790; captureRadius = 10; duration = 84; initialDepth = 1306.659300; finalDepth = 1337.086097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0839839999999 # Actual altitude: 64.0839839999999 # Commanded vehicle depth:1337.086097 # Seafloor depth:-1401.170081 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 256.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 84.671703 meters # Minimum depth: 1356.659300 meters looking forward 100.000000 meters along route # Maximum depth: 1384.608398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1306.659300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721585; longitude = -122.009676; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1292.783224; finalDepth = 1306.659300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.949098 # Actual altitude: 77.949098 # Commanded vehicle depth:1306.6593 # Seafloor depth:-1384.608398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.671703 meters # Minimum depth: 1342.783224 meters looking forward 100.000000 meters along route # Maximum depth: 1358.937591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.783224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722250; longitude = -122.008695; captureRadius = 10; duration = 84; initialDepth = 1255.469328; finalDepth = 1292.783224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.949098 # Actual altitude: 77.949098 # Commanded vehicle depth:1292.783224 # Seafloor depth:-1356.423833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 311.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.671703 meters # Minimum depth: 1305.469328 meters looking forward 100.000000 meters along route # Maximum depth: 1346.906936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.469328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722701; longitude = -122.008031; captureRadius = 10; duration = 84; initialDepth = 1219.062377; finalDepth = 1255.469328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.96128 # Actual altitude: 86.96128 # Commanded vehicle depth:1255.469328 # Seafloor depth:-1342.430608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 347.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 84.671703 meters # Minimum depth: 1269.062377 meters looking forward 100.000000 meters along route # Maximum depth: 1318.963861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.062377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723152; longitude = -122.007367; captureRadius = 10; duration = 84; initialDepth = 1215.749372; finalDepth = 1219.062377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.96128 # Actual altitude: 86.96128 # Commanded vehicle depth:1219.062377 # Seafloor depth:-1305.382038 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 347.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.85; 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 4 # Segment length 84.671703 meters # Minimum depth: 1265.749372 meters looking forward 100.000000 meters along route # Maximum depth: 1284.395657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.749372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723632; longitude = -122.006658; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1231.364671; finalDepth = 1215.749372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.319661 # Actual altitude: 86.319661 # Commanded vehicle depth:1215.749372 # Seafloor depth:-1266.331706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.53; MB_Bottom_Detect_Filter_Max_Range = 345.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1281.364671 meters looking forward 100.000000 meters along route # Maximum depth: 1300.514204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.364671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724233; longitude = -122.007058; captureRadius = 10; duration = 84; initialDepth = 1244.970750; finalDepth = 1231.364671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1895460000001 # Actual altitude: 55.1895460000001 # Commanded vehicle depth:1231.364671 # Seafloor depth:-1286.554217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1294.970750 meters looking forward 100.000000 meters along route # Maximum depth: 1317.182414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.970750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724866; longitude = -122.007480; captureRadius = 10; duration = 84; initialDepth = 1265.755094; finalDepth = 1244.970750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6192590000001 # Actual altitude: 55.6192590000001 # Commanded vehicle depth:1244.97075 # Seafloor depth:-1300.590009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1315.755094 meters looking forward 100.000000 meters along route # Maximum depth: 1323.716989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.755094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725495; longitude = -122.007899; captureRadius = 10; duration = 84; initialDepth = 1246.919352; finalDepth = 1265.755094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6192590000001 # Actual altitude: 55.6192590000001 # Commanded vehicle depth:1265.755094 # Seafloor depth:-1320.516017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1296.919352 meters looking forward 100.000000 meters along route # Maximum depth: 1320.497787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.919352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726125; longitude = -122.008319; captureRadius = 10; duration = 84; initialDepth = 1211.069821; finalDepth = 1246.919352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.5784350000001 # Actual altitude: 73.5784350000001 # Commanded vehicle depth:1246.919352 # Seafloor depth:-1320.497787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 294.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1261.069821 meters looking forward 100.000000 meters along route # Maximum depth: 1298.820343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.069821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726756; longitude = -122.008739; captureRadius = 10; duration = 84; initialDepth = 1181.783215; finalDepth = 1211.069821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2631690000001 # Actual altitude: 84.2631690000001 # Commanded vehicle depth:1211.069821 # Seafloor depth:-1295.332990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 337.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1231.783215 meters looking forward 100.000000 meters along route # Maximum depth: 1266.410537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.783215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727389; longitude = -122.009160; captureRadius = 10; duration = 84; initialDepth = 1152.516748; finalDepth = 1181.783215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2631690000001 # Actual altitude: 84.2631690000001 # Commanded vehicle depth:1181.783215 # Seafloor depth:-1260.971042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 337.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1202.516748 meters looking forward 100.000000 meters along route # Maximum depth: 1233.566387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.516748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728018; longitude = -122.009579; captureRadius = 10; duration = 84; initialDepth = 1107.320964; finalDepth = 1152.516748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.187827 # Actual altitude: 79.187827 # Commanded vehicle depth:1152.516748 # Seafloor depth:-1227.287612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1157.320964 meters looking forward 100.000000 meters along route # Maximum depth: 1203.043521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.320964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728649; longitude = -122.009999; captureRadius = 10; duration = 84; initialDepth = 1086.338226; finalDepth = 1107.320964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4153349999999 # Actual altitude: 89.4153349999999 # Commanded vehicle depth:1107.320964 # Seafloor depth:-1196.736299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.77; 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 4 # Segment length 84.671703 meters # Minimum depth: 1136.338226 meters looking forward 100.000000 meters along route # Maximum depth: 1159.253308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.338226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729279; longitude = -122.010419; captureRadius = 10; duration = 84; initialDepth = 1090.536947; finalDepth = 1086.338226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4153349999999 # Actual altitude: 89.4153349999999 # Commanded vehicle depth:1086.338226 # Seafloor depth:-1155.740909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.77; 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 4 # Segment length 84.671703 meters # Minimum depth: 1140.536947 meters looking forward 100.000000 meters along route # Maximum depth: 1172.858942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.536947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729912; longitude = -122.010841; captureRadius = 10; duration = 84; initialDepth = 1115.945601; finalDepth = 1090.536947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.402683 # Actual altitude: 69.402683 # Commanded vehicle depth:1090.536947 # Seafloor depth:-1148.829590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 277.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 84.671703 meters # Minimum depth: 1170.795087 meters looking forward 100.000000 meters along route # Maximum depth: 1200.815451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.945601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730585; longitude = -122.011289; captureRadius = 10; duration = 84; initialDepth = 1104.737533; finalDepth = 1115.945601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5862301 # Actual altitude: 59.5862301 # Commanded vehicle depth:1115.9456009 # Seafloor depth:-1175.531831 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 84.671703 meters # Minimum depth: 1154.737533 meters looking forward 100.000000 meters along route # Maximum depth: 1202.168294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.737533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731202; longitude = -122.011700; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1075.439536; finalDepth = 1104.737533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.4307610000001 # Actual altitude: 97.4307610000001 # Commanded vehicle depth:1104.737533 # Seafloor depth:-1202.168294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.97; 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 3 # Segment length 84.671703 meters # Minimum depth: 1125.439536 meters looking forward 100.000000 meters along route # Maximum depth: 1154.981605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.439536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731565; longitude = -122.010393; captureRadius = 10; duration = 84; initialDepth = 1057.432854; finalDepth = 1075.439536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.4307610000001 # Actual altitude: 97.4307610000001 # Commanded vehicle depth:1075.439536 # Seafloor depth:-1150.389424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.97; 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 3 # Segment length 84.671703 meters # Minimum depth: 1107.432854 meters looking forward 100.000000 meters along route # Maximum depth: 1127.412750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.432854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731803; longitude = -122.009539; captureRadius = 10; duration = 84; initialDepth = 1014.638580; finalDepth = 1057.432854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.9498879999999 # Actual altitude: 74.9498879999999 # Commanded vehicle depth:1057.432854 # Seafloor depth:-1124.851295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 299.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.671703 meters # Minimum depth: 1064.638580 meters looking forward 100.000000 meters along route # Maximum depth: 1107.432854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.638580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732033; longitude = -122.008712; captureRadius = 10; duration = 84; initialDepth = 971.099891; finalDepth = 1014.638580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4158259999999 # Actual altitude: 87.4158259999999 # Commanded vehicle depth:1014.63858 # Seafloor depth:-1102.054406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 349.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.671703 meters # Minimum depth: 1021.099891 meters looking forward 100.000000 meters along route # Maximum depth: 1065.036243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.099891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732282; longitude = -122.007816; captureRadius = 10; duration = 84; initialDepth = 933.168410; finalDepth = 971.099891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9723130000001 # Actual altitude: 88.9723130000001 # Commanded vehicle depth:971.099891 # Seafloor depth:-1060.072204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; 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 3 # Segment length 84.671703 meters # Minimum depth: 983.168410 meters looking forward 100.000000 meters along route # Maximum depth: 1026.700293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.168410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732524; longitude = -122.006946; captureRadius = 10; duration = 84; initialDepth = 888.503105; finalDepth = 933.168410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9723130000001 # Actual altitude: 88.9723130000001 # Commanded vehicle depth:933.16841 # Seafloor depth:-1017.042498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; 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 3 # Segment length 84.671703 meters # Minimum depth: 938.503105 meters looking forward 100.000000 meters along route # Maximum depth: 983.168410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.503105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732749; longitude = -122.006135; captureRadius = 10; duration = 84; initialDepth = 845.358366; finalDepth = 888.503105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.127132 # Actual altitude: 90.127132 # Commanded vehicle depth:888.503105 # Seafloor depth:-978.630237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.05; 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 3 # Segment length 84.671703 meters # Minimum depth: 895.358366 meters looking forward 100.000000 meters along route # Maximum depth: 940.182769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.358366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732998; longitude = -122.005239; captureRadius = 10; duration = 84; initialDepth = 808.875881; finalDepth = 845.358366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.127132 # Actual altitude: 90.127132 # Commanded vehicle depth:845.358366 # Seafloor depth:-932.404890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.05; 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 3 # Segment length 84.671703 meters # Minimum depth: 858.875881 meters looking forward 100.000000 meters along route # Maximum depth: 898.050848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.875881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733247; longitude = -122.004343; captureRadius = 10; duration = 84; initialDepth = 779.306815; finalDepth = 808.875881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.046524 # Actual altitude: 87.046524 # Commanded vehicle depth:808.875881 # Seafloor depth:-895.068415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 348.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 84.671703 meters # Minimum depth: 829.306815 meters looking forward 100.000000 meters along route # Maximum depth: 861.594992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.306815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733497; longitude = -122.003447; captureRadius = 10; duration = 84; initialDepth = 764.872641; finalDepth = 779.306815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1925339999999 # Actual altitude: 86.1925339999999 # Commanded vehicle depth:779.306815 # Seafloor depth:-854.078057 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 344.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 84.671703 meters # Minimum depth: 814.872641 meters looking forward 100.000000 meters along route # Maximum depth: 842.325948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.872641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733725; longitude = -122.002625; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 740.015571; finalDepth = 764.872641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.7712419999999 # Actual altitude: 74.7712419999999 # Commanded vehicle depth:764.872641 # Seafloor depth:-828.416829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.91; MB_Bottom_Detect_Filter_Max_Range = 299.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 790.015571 meters looking forward 100.000000 meters along route # Maximum depth: 814.872641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.015571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733767; longitude = -122.001990; captureRadius = 10; duration = 84; initialDepth = 714.282771; finalDepth = 740.015571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.042817 # Actual altitude: 73.042817 # Commanded vehicle depth:740.015571 # Seafloor depth:-813.058388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 292.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 764.282771 meters looking forward 100.000000 meters along route # Maximum depth: 790.015571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.282771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733827; longitude = -122.001094; captureRadius = 10; duration = 84; initialDepth = 692.663889; finalDepth = 714.282771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.042817 # Actual altitude: 73.042817 # Commanded vehicle depth:714.282771 # Seafloor depth:-786.673018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 292.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 742.663889 meters looking forward 100.000000 meters along route # Maximum depth: 765.741554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.663889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733886; longitude = -122.000198; captureRadius = 10; duration = 84; initialDepth = 668.681682; finalDepth = 692.663889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3902469999999 # Actual altitude: 72.3902469999999 # Commanded vehicle depth:692.663889 # Seafloor depth:-761.475525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 718.681682 meters looking forward 100.000000 meters along route # Maximum depth: 742.663889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.681682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733946; longitude = -121.999302; captureRadius = 10; duration = 84; initialDepth = 647.016385; finalDepth = 668.681682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0785569999999 # Actual altitude: 71.0785569999999 # Commanded vehicle depth:668.681682 # Seafloor depth:-739.760239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 284.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 697.016385 meters looking forward 100.000000 meters along route # Maximum depth: 718.681682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.016385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734005; longitude = -121.998405; captureRadius = 10; duration = 84; initialDepth = 628.153273; finalDepth = 647.016385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0785569999999 # Actual altitude: 71.0785569999999 # Commanded vehicle depth:647.016385 # Seafloor depth:-715.396151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 284.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 678.153273 meters looking forward 100.000000 meters along route # Maximum depth: 697.580700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.153273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734065; longitude = -121.997509; captureRadius = 10; duration = 84; initialDepth = 612.168478; finalDepth = 628.153273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.379766 # Actual altitude: 68.379766 # Commanded vehicle depth:628.153273 # Seafloor depth:-694.891118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 273.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 662.168478 meters looking forward 100.000000 meters along route # Maximum depth: 678.153273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.168478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734124; longitude = -121.996613; captureRadius = 10; duration = 84; initialDepth = 600.123691; finalDepth = 612.168478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.737845 # Actual altitude: 66.737845 # Commanded vehicle depth:612.168478 # Seafloor depth:-676.431090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 266.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 650.123691 meters looking forward 100.000000 meters along route # Maximum depth: 662.168478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.123691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734184; longitude = -121.995717; captureRadius = 10; duration = 84; initialDepth = 587.906081; finalDepth = 600.123691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.262612 # Actual altitude: 64.262612 # Commanded vehicle depth:600.123691 # Seafloor depth:-660.944273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 257.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 637.906081 meters looking forward 100.000000 meters along route # Maximum depth: 650.151267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.906081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734244; longitude = -121.994820; captureRadius = 10; duration = 84; initialDepth = 573.430524; finalDepth = 587.906081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8205819999999 # Actual altitude: 60.8205819999999 # Commanded vehicle depth:587.906081 # Seafloor depth:-648.512386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 623.430524 meters looking forward 100.000000 meters along route # Maximum depth: 637.906081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.430524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734303; longitude = -121.993924; captureRadius = 10; duration = 84; initialDepth = 557.552066; finalDepth = 573.430524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.632073 # Actual altitude: 62.632073 # Commanded vehicle depth:573.430524 # Seafloor depth:-636.062597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 250.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 607.552066 meters looking forward 100.000000 meters along route # Maximum depth: 623.430524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.552066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734363; longitude = -121.993028; captureRadius = 10; duration = 84; initialDepth = 544.574697; finalDepth = 557.552066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.35802 # Actual altitude: 64.35802 # Commanded vehicle depth:557.552066 # Seafloor depth:-621.910086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 257.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 594.574697 meters looking forward 100.000000 meters along route # Maximum depth: 607.807411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.574697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734422; longitude = -121.992132; captureRadius = 10; duration = 84; initialDepth = 533.073771; finalDepth = 544.574697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.35802 # Actual altitude: 64.35802 # Commanded vehicle depth:544.574697 # Seafloor depth:-606.306284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 257.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 583.073771 meters looking forward 100.000000 meters along route # Maximum depth: 594.574697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.073771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734482; longitude = -121.991236; captureRadius = 10; duration = 84; initialDepth = 517.825885; finalDepth = 533.073771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.731587 # Actual altitude: 61.731587 # Commanded vehicle depth:533.073771 # Seafloor depth:-592.249608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 246.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 567.825885 meters looking forward 100.000000 meters along route # Maximum depth: 583.073771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.825885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734541; longitude = -121.990339; captureRadius = 10; duration = 84; initialDepth = 502.074347; finalDepth = 517.825885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.848553 # Actual altitude: 62.848553 # Commanded vehicle depth:517.825885 # Seafloor depth:-580.674438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 552.074347 meters looking forward 100.000000 meters along route # Maximum depth: 568.468916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.074347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734601; longitude = -121.989443; captureRadius = 10; duration = 84; initialDepth = 485.565428; finalDepth = 502.074347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.795029 # Actual altitude: 64.795029 # Commanded vehicle depth:502.074347 # Seafloor depth:-566.869376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 259.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 535.565428 meters looking forward 100.000000 meters along route # Maximum depth: 552.074347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.565428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734660; longitude = -121.988547; captureRadius = 10; duration = 84; initialDepth = 465.088199; finalDepth = 485.565428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.795029 # Actual altitude: 64.795029 # Commanded vehicle depth:485.565428 # Seafloor depth:-550.062668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 259.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 515.088199 meters looking forward 100.000000 meters along route # Maximum depth: 535.565428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.088199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734720; longitude = -121.987651; captureRadius = 10; duration = 84; initialDepth = 446.302790; finalDepth = 465.088199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.319166 # Actual altitude: 68.319166 # Commanded vehicle depth:465.088199 # Seafloor depth:-533.407365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 273.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 84.671703 meters # Minimum depth: 496.302790 meters looking forward 100.000000 meters along route # Maximum depth: 518.479013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.302790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734779; longitude = -121.986754; captureRadius = 10; duration = 84; initialDepth = 422.465447; finalDepth = 446.302790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.319166 # Actual altitude: 68.319166 # Commanded vehicle depth:446.30279 # Seafloor depth:-514.212088 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 273.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.671703 meters # Minimum depth: 472.465447 meters looking forward 100.000000 meters along route # Maximum depth: 494.968262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.465447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734836; longitude = -121.985895; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 402.243015; finalDepth = 422.465447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.502815 # Actual altitude: 72.502815 # Commanded vehicle depth:422.465447 # Seafloor depth:-494.968262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 290.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 452.243015 meters looking forward 100.000000 meters along route # Maximum depth: 472.559098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.243015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734671; longitude = -121.984738; captureRadius = 10; duration = 84; initialDepth = 382.542670; finalDepth = 402.243015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.502815 # Actual altitude: 72.502815 # Commanded vehicle depth:402.243015 # Seafloor depth:-469.721873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 290.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 432.542670 meters looking forward 100.000000 meters along route # Maximum depth: 452.243015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.542670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734543; longitude = -121.983842; captureRadius = 10; duration = 84; initialDepth = 369.057390; finalDepth = 382.542670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.428578 # Actual altitude: 68.428578 # Commanded vehicle depth:382.54267 # Seafloor depth:-450.971248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 273.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 419.057390 meters looking forward 100.000000 meters along route # Maximum depth: 436.143818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.057390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734414; longitude = -121.982945; captureRadius = 10; duration = 84; initialDepth = 347.663847; finalDepth = 369.057390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.428578 # Actual altitude: 68.428578 # Commanded vehicle depth:369.05739 # Seafloor depth:-432.171140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 273.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 397.663847 meters looking forward 100.000000 meters along route # Maximum depth: 419.057390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.663847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734286; longitude = -121.982049; captureRadius = 10; duration = 84; initialDepth = 324.859555; finalDepth = 347.663847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.401475 # Actual altitude: 67.401475 # Commanded vehicle depth:347.663847 # Seafloor depth:-415.065322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 269.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 374.859555 meters looking forward 100.000000 meters along route # Maximum depth: 397.663847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.859555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734158; longitude = -121.981153; captureRadius = 10; duration = 84; initialDepth = 298.589062; finalDepth = 324.859555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.408575 # Actual altitude: 71.408575 # Commanded vehicle depth:324.859555 # Seafloor depth:-396.268130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.56; MB_Bottom_Detect_Filter_Max_Range = 285.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 348.589062 meters looking forward 100.000000 meters along route # Maximum depth: 375.773606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.589062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734030; longitude = -121.980257; captureRadius = 10; duration = 84; initialDepth = 270.048916; finalDepth = 298.589062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.101249 # Actual altitude: 73.101249 # Commanded vehicle depth:298.589062 # Seafloor depth:-371.690311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.24; MB_Bottom_Detect_Filter_Max_Range = 292.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 320.048916 meters looking forward 100.000000 meters along route # Maximum depth: 348.589062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.048916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733901; longitude = -121.979360; captureRadius = 10; duration = 84; initialDepth = 240.511884; finalDepth = 270.048916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.389728 # Actual altitude: 74.389728 # Commanded vehicle depth:270.048916 # Seafloor depth:-344.438644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.76; MB_Bottom_Detect_Filter_Max_Range = 297.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 290.511884 meters looking forward 100.000000 meters along route # Maximum depth: 321.001888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.511884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733773; longitude = -121.978464; captureRadius = 10; duration = 84; initialDepth = 204.287517; finalDepth = 240.511884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.650139 # Actual altitude: 76.650139 # Commanded vehicle depth:240.511884 # Seafloor depth:-317.162023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 306.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 254.287517 meters looking forward 100.000000 meters along route # Maximum depth: 290.511884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.287517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733645; longitude = -121.977568; captureRadius = 10; duration = 84; initialDepth = 173.468172; finalDepth = 204.287517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.997661 # Actual altitude: 82.997661 # Commanded vehicle depth:204.287517 # Seafloor depth:-287.285178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 331.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 223.468172 meters looking forward 100.000000 meters along route # Maximum depth: 259.521857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.468172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733515; longitude = -121.976658; captureRadius = 10; duration = 84; initialDepth = 138.427930; finalDepth = 173.468172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.997661 # Actual altitude: 82.997661 # Commanded vehicle depth:173.468172 # Seafloor depth:-253.791379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 331.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 188.427930 meters looking forward 100.000000 meters along route # Maximum depth: 223.468172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.427930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733389; longitude = -121.975775; captureRadius = 10; duration = 84; initialDepth = 111.017320; finalDepth = 138.427930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.323207 # Actual altitude: 80.323207 # Commanded vehicle depth:138.42793 # Seafloor depth:-218.372193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 321.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 161.017320 meters looking forward 100.000000 meters along route # Maximum depth: 188.427930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.017320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733260; longitude = -121.974879; captureRadius = 10; duration = 84; initialDepth = 93.347086; finalDepth = 111.017320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.944263 # Actual altitude: 79.944263 # Commanded vehicle depth:111.01732 # Seafloor depth:-183.864769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 319.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 143.347086 meters looking forward 100.000000 meters along route # Maximum depth: 162.416739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.347086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733132; longitude = -121.973983; captureRadius = 10; duration = 84; initialDepth = 83.264997; finalDepth = 93.347086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.847449 # Actual altitude: 72.847449 # Commanded vehicle depth:93.347086 # Seafloor depth:-157.885096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.14; MB_Bottom_Detect_Filter_Max_Range = 291.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 133.264997 meters looking forward 100.000000 meters along route # Maximum depth: 143.934501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.264997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733004; longitude = -121.973087; captureRadius = 10; duration = 84; initialDepth = 77.455555; finalDepth = 83.264997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.53801 # Actual altitude: 64.53801 # Commanded vehicle depth:83.264997 # Seafloor depth:-141.609529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 127.455555 meters looking forward 100.000000 meters along route # Maximum depth: 134.517759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.455555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732884; longitude = -121.972249; captureRadius = 10; duration = 84; initialDepth = 73.642674; finalDepth = 77.455555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.344532 # Actual altitude: 58.344532 # Commanded vehicle depth:77.455555 # Seafloor depth:-132.449874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 123.642674 meters looking forward 100.000000 meters along route # Maximum depth: 127.455555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.642674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732763; longitude = -121.971406; captureRadius = 10; duration = 84; initialDepth = 70.363753; finalDepth = 73.642674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.994319 # Actual altitude: 54.994319 # Commanded vehicle depth:73.642674 # Seafloor depth:-126.659847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 120.363753 meters looking forward 100.000000 meters along route # Maximum depth: 123.965070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.363753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732635; longitude = -121.970510; captureRadius = 10; duration = 84; initialDepth = 67.640198; finalDepth = 70.363753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.017173 # Actual altitude: 53.017173 # Commanded vehicle depth:70.363753 # Seafloor depth:-123.353072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 84.671703 meters # Minimum depth: 117.640198 meters looking forward 100.000000 meters along route # Maximum depth: 120.468376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.640198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732507; longitude = -121.969614; captureRadius = 10; duration = 84; initialDepth = 67.534576; finalDepth = 67.640198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.989319 # Actual altitude: 52.989319 # Commanded vehicle depth:67.640198 # Seafloor depth:-120.468376 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.96; 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 # Commanded altitude: 52.828178 # Sonar parameter altitude: 52.828178 # Commanded vehicle depth:67.534576 # Seafloor depth:-117.534576 # 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 = 211.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 84.671703 meters # Minimum depth: 117.534576 meters looking forward 100.000000 meters along route # Maximum depth: 120.468376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1905.400180 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.534576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732373; longitude = -121.968680; captureRadius = 10; duration = 600; initialDepth = 67.534576; finalDepth = 67.534576; maxCrossTrackError = 30; 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 = 90.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 90.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 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 = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################