# 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: Lucia2008_8v2.rte # Mission File: Lucia2008_8v2.cfg # Distance: 81917.103266 (m) # Estimated Time: 57423 (s) 15.951 (hr) # Abort Time: 61765 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1234 (s) # Way Points: 28 # Route Points: 755 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 83 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.6 # 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: 1053.45795 (m) # Abort Vehicle Depth: 1078.45795 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.808697 35.796048 -1050.829315 0.000000 3 # 1 -121.853286 35.740565 -1068.772827 7357.068975 4 # 2 -121.855704 35.732934 -1062.496399 8231.324318 3 # 3 -121.806242 35.794624 -1049.828796 16405.873857 4 # 4 -121.803374 35.793176 -1041.699707 16710.801768 3 # 5 -121.852763 35.731348 -1060.528992 24894.617484 4 # 6 -121.849998 35.729654 -1056.024689 25207.426153 3 # 7 -121.800676 35.791608 -1042.161560 33399.712825 4 # 8 -121.797889 35.790093 -1046.027191 33702.512521 3 # 9 -121.847300 35.728284 -1052.787750 41885.749291 4 # 10 -121.845368 35.724090 -1048.572723 42382.704499 3 # 11 -121.838313 35.732490 -1051.748749 43512.029124 4 # 12 -121.834840 35.739177 -1047.097443 44317.545443 3 # 13 -121.793348 35.791055 -1035.270294 51186.815042 4 # 14 -121.790627 35.789685 -1026.981445 51475.903116 3 # 15 -121.843938 35.723273 -1046.641144 60279.543887 4 # 16 -121.842721 35.722263 -1045.924591 60436.610010 3 # 17 -121.827659 35.741442 -1041.596069 62962.817483 4 # 18 -121.825993 35.740583 -1039.275146 63141.082744 3 # 19 -121.840989 35.721927 -1040.858734 65615.361135 4 # 20 -121.839640 35.720755 -1039.311859 65793.661484 3 # 21 -121.827615 35.736017 -1040.948242 67805.870026 3 # 22 -121.821548 35.748911 -1040.093292 69337.762511 3 # 23 -121.788836 35.789783 -1029.044037 74750.749938 4 # 24 -121.787425 35.788995 -1024.664093 74905.357634 3 # 25 -121.819004 35.749290 -1038.340881 80153.990581 3 # 26 -121.813924 35.739424 -1038.886932 81340.889206 1 # 27 -121.810489 35.735049 -1028.621719 81917.103266 4 # # A total of 755 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61765; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1053.457950; abortDepth = 1078.457950; 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 = 1234; 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 27 # Segment length 119.608441 meters # Minimum depth: 1028.621719 meters looking forward 0.000000 meters along route # Maximum depth: 1028.621719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.621719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735049; longitude = -121.810489; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 981.280203; finalDepth = 978.621719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.621719 # Seafloor depth:-1028.621719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.608441 meters # Minimum depth: 1031.280203 meters looking forward 0.000000 meters along route # Maximum depth: 1031.280203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.280203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.810730; captureRadius = 10; duration = 119; initialDepth = 984.157608; finalDepth = 981.280203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.280203 # Seafloor depth:-1031.280203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.608441 meters # Minimum depth: 1034.157608 meters looking forward 0.000000 meters along route # Maximum depth: 1034.157608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.157608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.811381; captureRadius = 10; duration = 119; initialDepth = 985.175164; finalDepth = 984.157608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.157608 # Seafloor depth:-1034.157608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.608441 meters # Minimum depth: 1035.175164 meters looking forward 0.000000 meters along route # Maximum depth: 1035.175164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.175164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.812032; captureRadius = 10; duration = 119; initialDepth = 989.482800; finalDepth = 985.175164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.175164 # Seafloor depth:-1035.175164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.608441 meters # Minimum depth: 1039.482800 meters looking forward 0.000000 meters along route # Maximum depth: 1039.482800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.482800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.812683; captureRadius = 10; duration = 119; initialDepth = 985.332038; finalDepth = 989.482800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.4828 # Seafloor depth:-1039.482800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.608441 meters # Minimum depth: 1035.332038 meters looking forward 0.000000 meters along route # Maximum depth: 1035.332038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.332038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738619; longitude = -121.813292; captureRadius = 10; duration = 119; initialDepth = 988.886932; finalDepth = 985.332038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.332038 # Seafloor depth:-1035.332038 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 119.608441 meters # Minimum depth: 1038.886932 meters looking forward 0.000000 meters along route # Maximum depth: 1038.886932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.886932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739424; longitude = -121.813924; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 990.242755; finalDepth = 988.886932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.886932 # Seafloor depth:-1038.886932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1040.242755 meters looking forward 0.000000 meters along route # Maximum depth: 1040.242755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.242755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739806; longitude = -121.814121; captureRadius = 10; duration = 119; initialDepth = 985.371783; finalDepth = 990.242755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.242755 # Seafloor depth:-1040.242755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1035.371783 meters looking forward 0.000000 meters along route # Maximum depth: 1035.371783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.371783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.814676; captureRadius = 10; duration = 119; initialDepth = 981.958330; finalDepth = 985.371783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.371783 # Seafloor depth:-1035.371783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1031.958330 meters looking forward 0.000000 meters along route # Maximum depth: 1031.958330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.958330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.815245; captureRadius = 10; duration = 119; initialDepth = 981.288815; finalDepth = 981.958330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.95833 # Seafloor depth:-1031.958330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1031.288815 meters looking forward 0.000000 meters along route # Maximum depth: 1031.288815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.288815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.815814; captureRadius = 10; duration = 119; initialDepth = 982.938130; finalDepth = 981.288815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.288815 # Seafloor depth:-1031.288815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1032.938130 meters looking forward 0.000000 meters along route # Maximum depth: 1032.938130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.938130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.816383; captureRadius = 10; duration = 119; initialDepth = 981.446371; finalDepth = 982.938130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.93813 # Seafloor depth:-1032.938130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1031.446371 meters looking forward 0.000000 meters along route # Maximum depth: 1031.446371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.446371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.816953; captureRadius = 10; duration = 119; initialDepth = 985.079875; finalDepth = 981.446371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.446371 # Seafloor depth:-1031.446371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1035.079875 meters looking forward 0.000000 meters along route # Maximum depth: 1035.079875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.079875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.817522; captureRadius = 10; duration = 119; initialDepth = 985.569869; finalDepth = 985.079875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.079875 # Seafloor depth:-1035.079875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1035.569869 meters looking forward 0.000000 meters along route # Maximum depth: 1035.569869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.569869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.818091; captureRadius = 10; duration = 119; initialDepth = 984.516228; finalDepth = 985.569869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.569869 # Seafloor depth:-1035.569869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.608441 meters # Minimum depth: 1034.516228 meters looking forward 0.000000 meters along route # Maximum depth: 1034.516228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.516228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748395; longitude = -121.818543; captureRadius = 10; duration = 119; initialDepth = 988.340881; finalDepth = 984.516228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.516228 # Seafloor depth:-1034.516228 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 119.608441 meters # Minimum depth: 1038.340881 meters looking forward 0.000000 meters along route # Maximum depth: 1038.340881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.340881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749290; longitude = -121.819004; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 988.813292; finalDepth = 988.340881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.340881 # Seafloor depth:-1038.340881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1038.813292 meters looking forward 0.000000 meters along route # Maximum depth: 1038.813292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.813292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.818435; captureRadius = 10; duration = 119; initialDepth = 987.777083; finalDepth = 988.813292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.813292 # Seafloor depth:-1038.813292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1037.777083 meters looking forward 0.000000 meters along route # Maximum depth: 1037.777083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.777083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.817776; captureRadius = 10; duration = 119; initialDepth = 985.387207; finalDepth = 987.777083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.777083 # Seafloor depth:-1037.777083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.387207 meters looking forward 0.000000 meters along route # Maximum depth: 1035.387207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.387207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.817116; captureRadius = 10; duration = 119; initialDepth = 985.417509; finalDepth = 985.387207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.387207 # Seafloor depth:-1035.387207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.417509 meters looking forward 0.000000 meters along route # Maximum depth: 1035.417509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.417509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.816457; captureRadius = 10; duration = 119; initialDepth = 984.582917; finalDepth = 985.417509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.417509 # Seafloor depth:-1035.417509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.582917 meters looking forward 0.000000 meters along route # Maximum depth: 1034.582917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.582917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753345; longitude = -121.815779; captureRadius = 10; duration = 119; initialDepth = 984.956799; finalDepth = 984.582917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.582917 # Seafloor depth:-1034.582917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.956799 meters looking forward 0.000000 meters along route # Maximum depth: 1034.956799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.956799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.815138; captureRadius = 10; duration = 119; initialDepth = 983.559179; finalDepth = 984.956799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.956799 # Seafloor depth:-1034.956799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1033.559179 meters looking forward 0.000000 meters along route # Maximum depth: 1033.559179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.559179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.814478; captureRadius = 10; duration = 119; initialDepth = 983.735351; finalDepth = 983.559179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.559179 # Seafloor depth:-1033.559179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1033.735351 meters looking forward 0.000000 meters along route # Maximum depth: 1033.735351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.735351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.813819; captureRadius = 10; duration = 119; initialDepth = 984.574243; finalDepth = 983.735351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.735351 # Seafloor depth:-1033.735351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.574243 meters looking forward 0.000000 meters along route # Maximum depth: 1034.574243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.574243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.813159; captureRadius = 10; duration = 119; initialDepth = 984.667595; finalDepth = 984.574243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.574243 # Seafloor depth:-1034.574243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.667595 meters looking forward 0.000000 meters along route # Maximum depth: 1034.667595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.667595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757515; longitude = -121.812462; captureRadius = 10; duration = 119; initialDepth = 982.624386; finalDepth = 984.667595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.667595 # Seafloor depth:-1034.667595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1032.624386 meters looking forward 0.000000 meters along route # Maximum depth: 1032.624386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.624386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.811840; captureRadius = 10; duration = 119; initialDepth = 985.304876; finalDepth = 982.624386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.624386 # Seafloor depth:-1032.624386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.304876 meters looking forward 0.000000 meters along route # Maximum depth: 1035.304876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.304876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.811181; captureRadius = 10; duration = 119; initialDepth = 988.100266; finalDepth = 985.304876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.304876 # Seafloor depth:-1035.304876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1038.100266 meters looking forward 0.000000 meters along route # Maximum depth: 1038.100266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.100266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.810521; captureRadius = 10; duration = 119; initialDepth = 986.961429; finalDepth = 988.100266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.100266 # Seafloor depth:-1038.100266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1036.961429 meters looking forward 0.000000 meters along route # Maximum depth: 1036.961429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.961429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.809862; captureRadius = 10; duration = 119; initialDepth = 985.763595; finalDepth = 986.961429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.961429 # Seafloor depth:-1036.961429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.763595 meters looking forward 0.000000 meters along route # Maximum depth: 1035.763595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.763595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761685; longitude = -121.809146; captureRadius = 10; duration = 119; initialDepth = 985.998120; finalDepth = 985.763595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.763595 # Seafloor depth:-1035.763595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.998120 meters looking forward 0.000000 meters along route # Maximum depth: 1035.998120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.998120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.808543; captureRadius = 10; duration = 119; initialDepth = 984.525246; finalDepth = 985.998120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.99812 # Seafloor depth:-1035.998120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.525246 meters looking forward 0.000000 meters along route # Maximum depth: 1034.525246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.525246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.807883; captureRadius = 10; duration = 119; initialDepth = 984.319715; finalDepth = 984.525246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.525246 # Seafloor depth:-1034.525246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.319715 meters looking forward 0.000000 meters along route # Maximum depth: 1034.319715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.319715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764118; longitude = -121.807211; captureRadius = 10; duration = 119; initialDepth = 986.113566; finalDepth = 984.319715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.319715 # Seafloor depth:-1034.319715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1036.113566 meters looking forward 0.000000 meters along route # Maximum depth: 1036.113566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.113566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.806564; captureRadius = 10; duration = 119; initialDepth = 987.736390; finalDepth = 986.113566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.113566 # Seafloor depth:-1036.113566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1037.736390 meters looking forward 0.000000 meters along route # Maximum depth: 1037.736390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.736390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.805905; captureRadius = 10; duration = 119; initialDepth = 988.707165; finalDepth = 987.736390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.73639 # Seafloor depth:-1037.736390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1038.707165 meters looking forward 0.000000 meters along route # Maximum depth: 1038.707165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.707165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.805245; captureRadius = 10; duration = 119; initialDepth = 989.508757; finalDepth = 988.707165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.707165 # Seafloor depth:-1038.707165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1039.508757 meters looking forward 0.000000 meters along route # Maximum depth: 1039.508757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.508757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.804586; captureRadius = 10; duration = 119; initialDepth = 987.649545; finalDepth = 989.508757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.508757 # Seafloor depth:-1039.508757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1037.649545 meters looking forward 0.000000 meters along route # Maximum depth: 1037.649545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.649545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768288; longitude = -121.803894; captureRadius = 10; duration = 119; initialDepth = 990.640041; finalDepth = 987.649545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.649545 # Seafloor depth:-1037.649545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1040.640041 meters looking forward 0.000000 meters along route # Maximum depth: 1040.640041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.640041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.803267; captureRadius = 10; duration = 119; initialDepth = 988.758051; finalDepth = 990.640041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.640041 # Seafloor depth:-1040.640041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1038.758051 meters looking forward 0.000000 meters along route # Maximum depth: 1038.758051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.758051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.802607; captureRadius = 10; duration = 119; initialDepth = 984.492171; finalDepth = 988.758051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.758051 # Seafloor depth:-1038.758051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.492171 meters looking forward 0.000000 meters along route # Maximum depth: 1034.492171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.492171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.801948; captureRadius = 10; duration = 119; initialDepth = 984.679802; finalDepth = 984.492171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.492171 # Seafloor depth:-1034.492171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1034.679802 meters looking forward 0.000000 meters along route # Maximum depth: 1034.679802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.679802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.801288; captureRadius = 10; duration = 119; initialDepth = 986.709864; finalDepth = 984.679802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.679802 # Seafloor depth:-1034.679802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1036.709864 meters looking forward 0.000000 meters along route # Maximum depth: 1036.709864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.709864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772459; longitude = -121.800577; captureRadius = 10; duration = 119; initialDepth = 988.026382; finalDepth = 986.709864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.709864 # Seafloor depth:-1036.709864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1038.026382 meters looking forward 0.000000 meters along route # Maximum depth: 1038.026382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.026382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.799969; captureRadius = 10; duration = 119; initialDepth = 989.327892; finalDepth = 988.026382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.026382 # Seafloor depth:-1038.026382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1039.327892 meters looking forward 0.000000 meters along route # Maximum depth: 1039.327892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.327892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.799310; captureRadius = 10; duration = 119; initialDepth = 987.924507; finalDepth = 989.327892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.327892 # Seafloor depth:-1039.327892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1037.924507 meters looking forward 0.000000 meters along route # Maximum depth: 1037.924507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.924507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774891; longitude = -121.798642; captureRadius = 10; duration = 119; initialDepth = 985.099743; finalDepth = 987.924507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.924507 # Seafloor depth:-1037.924507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.099743 meters looking forward 0.000000 meters along route # Maximum depth: 1035.099743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.099743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.797991; captureRadius = 10; duration = 119; initialDepth = 985.601121; finalDepth = 985.099743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.099743 # Seafloor depth:-1035.099743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.601121 meters looking forward 0.000000 meters along route # Maximum depth: 1035.601121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.601121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.797331; captureRadius = 10; duration = 119; initialDepth = 987.193602; finalDepth = 985.601121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.601121 # Seafloor depth:-1035.601121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1037.193602 meters looking forward 0.000000 meters along route # Maximum depth: 1037.193602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.193602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.796672; captureRadius = 10; duration = 119; initialDepth = 985.170690; finalDepth = 987.193602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.193602 # Seafloor depth:-1037.193602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.170690 meters looking forward 0.000000 meters along route # Maximum depth: 1035.170690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.170690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.796012; captureRadius = 10; duration = 119; initialDepth = 985.467531; finalDepth = 985.170690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.17069 # Seafloor depth:-1035.170690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1035.467531 meters looking forward 0.000000 meters along route # Maximum depth: 1035.467531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.467531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779062; longitude = -121.795325; captureRadius = 10; duration = 119; initialDepth = 986.015527; finalDepth = 985.467531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.467531 # Seafloor depth:-1035.467531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1036.015527 meters looking forward 0.000000 meters along route # Maximum depth: 1036.015527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.015527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.794693; captureRadius = 10; duration = 119; initialDepth = 981.711058; finalDepth = 986.015527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.015527 # Seafloor depth:-1036.015527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1031.711058 meters looking forward 0.000000 meters along route # Maximum depth: 1031.711058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.711058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.794034; captureRadius = 10; duration = 119; initialDepth = 982.426355; finalDepth = 981.711058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.711058 # Seafloor depth:-1031.711058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1032.426355 meters looking forward 0.000000 meters along route # Maximum depth: 1032.426355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.426355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.793374; captureRadius = 10; duration = 119; initialDepth = 980.918641; finalDepth = 982.426355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.426355 # Seafloor depth:-1032.426355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1030.918641 meters looking forward 0.000000 meters along route # Maximum depth: 1030.918641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.918641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.792715; captureRadius = 10; duration = 119; initialDepth = 981.799670; finalDepth = 980.918641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.918641 # Seafloor depth:-1030.918641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1031.799670 meters looking forward 0.000000 meters along route # Maximum depth: 1031.799670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.799670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783232; longitude = -121.792009; captureRadius = 10; duration = 119; initialDepth = 979.771612; finalDepth = 981.799670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.79967 # Seafloor depth:-1031.799670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1029.771612 meters looking forward 0.000000 meters along route # Maximum depth: 1029.771612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.771612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.791396; captureRadius = 10; duration = 119; initialDepth = 977.861627; finalDepth = 979.771612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.771612 # Seafloor depth:-1029.771612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1027.861627 meters looking forward 0.000000 meters along route # Maximum depth: 1027.861627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.861627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.790736; captureRadius = 10; duration = 119; initialDepth = 975.451725; finalDepth = 977.861627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.861627 # Seafloor depth:-1027.861627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1025.451725 meters looking forward 0.000000 meters along route # Maximum depth: 1025.451725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.451725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785665; longitude = -121.790074; captureRadius = 10; duration = 119; initialDepth = 975.922975; finalDepth = 975.451725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.451725 # Seafloor depth:-1025.451725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1025.922975 meters looking forward 0.000000 meters along route # Maximum depth: 1025.922975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.922975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.789417; captureRadius = 10; duration = 119; initialDepth = 976.876290; finalDepth = 975.922975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.922975 # Seafloor depth:-1025.922975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1026.876290 meters looking forward 0.000000 meters along route # Maximum depth: 1026.876290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.876290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.788758; captureRadius = 10; duration = 119; initialDepth = 973.404449; finalDepth = 976.876290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.87629 # Seafloor depth:-1026.876290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.608441 meters # Minimum depth: 1023.404449 meters looking forward 0.000000 meters along route # Maximum depth: 1023.404449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.404449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.788098; captureRadius = 10; duration = 119; initialDepth = 974.664093; finalDepth = 973.404449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.404449 # Seafloor depth:-1023.404449 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 119.608441 meters # Minimum depth: 1024.664093 meters looking forward 0.000000 meters along route # Maximum depth: 1024.664093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.664093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788995; longitude = -121.787425; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 976.195721; finalDepth = 974.664093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.664093 # Seafloor depth:-1024.664093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.608441 meters # Minimum depth: 1026.195721 meters looking forward 0.000000 meters along route # Maximum depth: 1026.195721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.195721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.787889; captureRadius = 10; duration = 119; initialDepth = 979.044037; finalDepth = 976.195721; 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 # Actual altitude: 50 # Commanded vehicle depth:976.195721 # Seafloor depth:-1026.195721 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 119.608441 meters # Minimum depth: 1029.044037 meters looking forward 0.000000 meters along route # Maximum depth: 1029.044037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.044037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789783; longitude = -121.788836; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 979.159015; finalDepth = 979.044037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.044037 # Seafloor depth:-1029.044037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1029.159015 meters looking forward 0.000000 meters along route # Maximum depth: 1029.159015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.159015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.789038; captureRadius = 10; duration = 119; initialDepth = 977.079833; finalDepth = 979.159015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.159015 # Seafloor depth:-1029.159015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1027.079833 meters looking forward 0.000000 meters along route # Maximum depth: 1027.079833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.079833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.789702; captureRadius = 10; duration = 119; initialDepth = 977.079433; finalDepth = 977.079833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.079833 # Seafloor depth:-1027.079833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1027.079433 meters looking forward 0.000000 meters along route # Maximum depth: 1027.079433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.079433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.790365; captureRadius = 10; duration = 119; initialDepth = 976.694359; finalDepth = 977.079433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.079433 # Seafloor depth:-1027.079433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1026.694359 meters looking forward 0.000000 meters along route # Maximum depth: 1026.694359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.694359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.791029; captureRadius = 10; duration = 119; initialDepth = 976.662524; finalDepth = 976.694359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.694359 # Seafloor depth:-1026.694359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1026.662524 meters looking forward 0.000000 meters along route # Maximum depth: 1026.662524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.662524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786164; longitude = -121.791732; captureRadius = 10; duration = 119; initialDepth = 977.665707; finalDepth = 976.662524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.662524 # Seafloor depth:-1026.662524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1027.665707 meters looking forward 0.000000 meters along route # Maximum depth: 1027.665707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.665707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.792356; captureRadius = 10; duration = 119; initialDepth = 980.954432; finalDepth = 977.665707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.665707 # Seafloor depth:-1027.665707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1030.954432 meters looking forward 0.000000 meters along route # Maximum depth: 1030.954432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.954432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.793020; captureRadius = 10; duration = 119; initialDepth = 983.168639; finalDepth = 980.954432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.954432 # Seafloor depth:-1030.954432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1033.168639 meters looking forward 0.000000 meters along route # Maximum depth: 1033.168639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.168639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.793684; captureRadius = 10; duration = 119; initialDepth = 983.385647; finalDepth = 983.168639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.168639 # Seafloor depth:-1033.168639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1033.385647 meters looking forward 0.000000 meters along route # Maximum depth: 1033.385647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.385647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.794347; captureRadius = 10; duration = 119; initialDepth = 983.575121; finalDepth = 983.385647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.385647 # Seafloor depth:-1033.385647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1033.575121 meters looking forward 0.000000 meters along route # Maximum depth: 1033.575121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.575121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782020; longitude = -121.795049; captureRadius = 10; duration = 119; initialDepth = 981.898198; finalDepth = 983.575121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.575121 # Seafloor depth:-1033.575121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1031.898198 meters looking forward 0.000000 meters along route # Maximum depth: 1031.898198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.898198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.795675; captureRadius = 10; duration = 119; initialDepth = 983.370844; finalDepth = 981.898198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.898198 # Seafloor depth:-1031.898198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1033.370844 meters looking forward 0.000000 meters along route # Maximum depth: 1033.370844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.370844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.796338; captureRadius = 10; duration = 119; initialDepth = 984.102085; finalDepth = 983.370844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.370844 # Seafloor depth:-1033.370844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1034.102085 meters looking forward 0.000000 meters along route # Maximum depth: 1034.102085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.102085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.797002; captureRadius = 10; duration = 119; initialDepth = 985.852402; finalDepth = 984.102085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.102085 # Seafloor depth:-1034.102085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1035.852402 meters looking forward 0.000000 meters along route # Maximum depth: 1035.852402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.852402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.797666; captureRadius = 10; duration = 119; initialDepth = 985.205184; finalDepth = 985.852402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.852402 # Seafloor depth:-1035.852402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1035.205184 meters looking forward 0.000000 meters along route # Maximum depth: 1035.205184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.205184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777876; longitude = -121.798366; captureRadius = 10; duration = 119; initialDepth = 988.612601; finalDepth = 985.205184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.205184 # Seafloor depth:-1035.205184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.612601 meters looking forward 0.000000 meters along route # Maximum depth: 1038.612601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.612601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.798993; captureRadius = 10; duration = 119; initialDepth = 991.013042; finalDepth = 988.612601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.612601 # Seafloor depth:-1038.612601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1041.013042 meters looking forward 0.000000 meters along route # Maximum depth: 1041.013042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.013042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.799657; captureRadius = 10; duration = 119; initialDepth = 989.318446; finalDepth = 991.013042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.013042 # Seafloor depth:-1041.013042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.318446 meters looking forward 0.000000 meters along route # Maximum depth: 1039.318446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.318446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.800320; captureRadius = 10; duration = 119; initialDepth = 988.440980; finalDepth = 989.318446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.318446 # Seafloor depth:-1039.318446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.440980 meters looking forward 0.000000 meters along route # Maximum depth: 1038.440980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.440980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.800984; captureRadius = 10; duration = 119; initialDepth = 987.492198; finalDepth = 988.440980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.44098 # Seafloor depth:-1038.440980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1037.492198 meters looking forward 0.000000 meters along route # Maximum depth: 1037.492198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.492198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773732; longitude = -121.801683; captureRadius = 10; duration = 119; initialDepth = 987.328099; finalDepth = 987.492198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.492198 # Seafloor depth:-1037.492198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1037.328099 meters looking forward 0.000000 meters along route # Maximum depth: 1037.328099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.328099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.802311; captureRadius = 10; duration = 119; initialDepth = 985.367670; finalDepth = 987.328099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.328099 # Seafloor depth:-1037.328099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1035.367670 meters looking forward 0.000000 meters along route # Maximum depth: 1035.367670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.367670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.802975; captureRadius = 10; duration = 119; initialDepth = 989.750476; finalDepth = 985.367670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.36767 # Seafloor depth:-1035.367670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.750476 meters looking forward 0.000000 meters along route # Maximum depth: 1039.750476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.750476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.803639; captureRadius = 10; duration = 119; initialDepth = 992.513704; finalDepth = 989.750476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.750476 # Seafloor depth:-1039.750476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1042.513704 meters looking forward 0.000000 meters along route # Maximum depth: 1042.513704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.513704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.804302; captureRadius = 10; duration = 119; initialDepth = 992.006067; finalDepth = 992.513704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.513704 # Seafloor depth:-1042.513704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1042.006067 meters looking forward 0.000000 meters along route # Maximum depth: 1042.006067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.006067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769587; longitude = -121.805000; captureRadius = 10; duration = 119; initialDepth = 995.153407; finalDepth = 992.006067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.006067 # Seafloor depth:-1042.006067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1045.153407 meters looking forward 0.000000 meters along route # Maximum depth: 1045.153407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.153407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.805630; captureRadius = 10; duration = 119; initialDepth = 989.397366; finalDepth = 995.153407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.153407 # Seafloor depth:-1045.153407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.397366 meters looking forward 0.000000 meters along route # Maximum depth: 1039.397366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.397366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.806293; captureRadius = 10; duration = 119; initialDepth = 990.984459; finalDepth = 989.397366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.397366 # Seafloor depth:-1039.397366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1040.984459 meters looking forward 0.000000 meters along route # Maximum depth: 1040.984459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.984459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.806957; captureRadius = 10; duration = 119; initialDepth = 989.456346; finalDepth = 990.984459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.984459 # Seafloor depth:-1040.984459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.456346 meters looking forward 0.000000 meters along route # Maximum depth: 1039.456346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.456346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.807621; captureRadius = 10; duration = 119; initialDepth = 989.697362; finalDepth = 989.456346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.456346 # Seafloor depth:-1039.456346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.697362 meters looking forward 0.000000 meters along route # Maximum depth: 1039.697362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.697362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765443; longitude = -121.808316; captureRadius = 10; duration = 119; initialDepth = 988.407003; finalDepth = 989.697362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.697362 # Seafloor depth:-1039.697362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.407003 meters looking forward 0.000000 meters along route # Maximum depth: 1038.407003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.407003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.808948; captureRadius = 10; duration = 119; initialDepth = 986.985313; finalDepth = 988.407003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.407003 # Seafloor depth:-1038.407003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1036.985313 meters looking forward 0.000000 meters along route # Maximum depth: 1036.985313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.985313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.809612; captureRadius = 10; duration = 119; initialDepth = 989.588083; finalDepth = 986.985313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.985313 # Seafloor depth:-1036.985313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.588083 meters looking forward 0.000000 meters along route # Maximum depth: 1039.588083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.588083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.810275; captureRadius = 10; duration = 119; initialDepth = 988.881547; finalDepth = 989.588083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.588083 # Seafloor depth:-1039.588083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.881547 meters looking forward 0.000000 meters along route # Maximum depth: 1038.881547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.881547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.810939; captureRadius = 10; duration = 119; initialDepth = 990.043869; finalDepth = 988.881547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.881547 # Seafloor depth:-1038.881547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1040.043869 meters looking forward 0.000000 meters along route # Maximum depth: 1040.043869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.043869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761299; longitude = -121.811633; captureRadius = 10; duration = 119; initialDepth = 990.341979; finalDepth = 990.043869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.043869 # Seafloor depth:-1040.043869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1040.341979 meters looking forward 0.000000 meters along route # Maximum depth: 1040.341979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.341979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.812266; captureRadius = 10; duration = 119; initialDepth = 984.911787; finalDepth = 990.341979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.341979 # Seafloor depth:-1040.341979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1034.911787 meters looking forward 0.000000 meters along route # Maximum depth: 1034.911787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.911787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.812930; captureRadius = 10; duration = 119; initialDepth = 983.988400; finalDepth = 984.911787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.911787 # Seafloor depth:-1034.911787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1033.988400 meters looking forward 0.000000 meters along route # Maximum depth: 1033.988400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.988400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.813593; captureRadius = 10; duration = 119; initialDepth = 987.481990; finalDepth = 983.988400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.9884 # Seafloor depth:-1033.988400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1037.481990 meters looking forward 0.000000 meters along route # Maximum depth: 1037.481990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.481990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.814257; captureRadius = 10; duration = 119; initialDepth = 988.228973; finalDepth = 987.481990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.48199 # Seafloor depth:-1037.481990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.228973 meters looking forward 0.000000 meters along route # Maximum depth: 1038.228973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.228973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757155; longitude = -121.814950; captureRadius = 10; duration = 119; initialDepth = 989.063328; finalDepth = 988.228973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.228973 # Seafloor depth:-1038.228973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.063328 meters looking forward 0.000000 meters along route # Maximum depth: 1039.063328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.063328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.815584; captureRadius = 10; duration = 119; initialDepth = 987.898169; finalDepth = 989.063328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.063328 # Seafloor depth:-1039.063328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1037.898169 meters looking forward 0.000000 meters along route # Maximum depth: 1037.898169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.898169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.816248; captureRadius = 10; duration = 119; initialDepth = 986.452822; finalDepth = 987.898169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.898169 # Seafloor depth:-1037.898169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1036.452822 meters looking forward 0.000000 meters along route # Maximum depth: 1036.452822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.452822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.816912; captureRadius = 10; duration = 119; initialDepth = 988.498370; finalDepth = 986.452822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.452822 # Seafloor depth:-1036.452822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.498370 meters looking forward 0.000000 meters along route # Maximum depth: 1038.498370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.498370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.817575; captureRadius = 10; duration = 119; initialDepth = 987.896204; finalDepth = 988.498370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.49837 # Seafloor depth:-1038.498370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1037.896204 meters looking forward 0.000000 meters along route # Maximum depth: 1037.896204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.896204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753011; longitude = -121.818267; captureRadius = 10; duration = 119; initialDepth = 988.298305; finalDepth = 987.896204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.896204 # Seafloor depth:-1037.896204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.298305 meters looking forward 0.000000 meters along route # Maximum depth: 1038.298305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.298305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.818903; captureRadius = 10; duration = 119; initialDepth = 988.511260; finalDepth = 988.298305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.298305 # Seafloor depth:-1038.298305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1038.511260 meters looking forward 0.000000 meters along route # Maximum depth: 1038.511260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.511260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.819566; captureRadius = 10; duration = 119; initialDepth = 989.943771; finalDepth = 988.511260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.51126 # Seafloor depth:-1038.511260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1039.943771 meters looking forward 0.000000 meters along route # Maximum depth: 1039.943771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.943771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.820230; captureRadius = 10; duration = 119; initialDepth = 991.183219; finalDepth = 989.943771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.943771 # Seafloor depth:-1039.943771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.608441 meters # Minimum depth: 1041.183219 meters looking forward 0.000000 meters along route # Maximum depth: 1041.183219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.183219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.820894; captureRadius = 10; duration = 119; initialDepth = 990.093292; finalDepth = 991.183219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.183219 # Seafloor depth:-1041.183219 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 119.608441 meters # Minimum depth: 1040.093292 meters looking forward 0.000000 meters along route # Maximum depth: 1040.093292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.093292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748911; longitude = -121.821548; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 990.542312; finalDepth = 990.093292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.093292 # Seafloor depth:-1040.093292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1040.542312 meters looking forward 0.000000 meters along route # Maximum depth: 1040.542312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.542312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.821684; captureRadius = 10; duration = 119; initialDepth = 987.429370; finalDepth = 990.542312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.542312 # Seafloor depth:-1040.542312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1037.429370 meters looking forward 0.000000 meters along route # Maximum depth: 1037.429370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.429370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.822204; captureRadius = 10; duration = 119; initialDepth = 988.504386; finalDepth = 987.429370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.42937 # Seafloor depth:-1037.429370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1038.504386 meters looking forward 0.000000 meters along route # Maximum depth: 1038.504386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.504386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746485; longitude = -121.822689; captureRadius = 10; duration = 119; initialDepth = 990.175453; finalDepth = 988.504386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.504386 # Seafloor depth:-1038.504386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1040.175453 meters looking forward 0.000000 meters along route # Maximum depth: 1040.175453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.175453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.823114; captureRadius = 10; duration = 119; initialDepth = 995.189807; finalDepth = 990.175453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.175453 # Seafloor depth:-1040.175453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1045.189807 meters looking forward 0.000000 meters along route # Maximum depth: 1045.189807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.189807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.823634; captureRadius = 10; duration = 119; initialDepth = 992.727346; finalDepth = 995.189807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.189807 # Seafloor depth:-1045.189807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1042.727346 meters looking forward 0.000000 meters along route # Maximum depth: 1042.727346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.727346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.824155; captureRadius = 10; duration = 119; initialDepth = 986.202935; finalDepth = 992.727346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.727346 # Seafloor depth:-1042.727346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1036.202935 meters looking forward 0.000000 meters along route # Maximum depth: 1036.202935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.202935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.824675; captureRadius = 10; duration = 119; initialDepth = 988.852790; finalDepth = 986.202935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.202935 # Seafloor depth:-1036.202935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1038.852790 meters looking forward 0.000000 meters along route # Maximum depth: 1038.852790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.852790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741198; longitude = -121.825177; captureRadius = 10; duration = 119; initialDepth = 989.320287; finalDepth = 988.852790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.85279 # Seafloor depth:-1038.852790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1039.320287 meters looking forward 0.000000 meters along route # Maximum depth: 1039.320287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.320287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.825585; captureRadius = 10; duration = 119; initialDepth = 987.828242; finalDepth = 989.320287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.320287 # Seafloor depth:-1039.320287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1037.828242 meters looking forward 0.000000 meters along route # Maximum depth: 1037.828242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.828242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.826105; captureRadius = 10; duration = 119; initialDepth = 988.499345; finalDepth = 987.828242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.828242 # Seafloor depth:-1037.828242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1038.499345 meters looking forward 0.000000 meters along route # Maximum depth: 1038.499345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.499345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.826626; captureRadius = 10; duration = 119; initialDepth = 991.690697; finalDepth = 988.499345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.499345 # Seafloor depth:-1038.499345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.608441 meters # Minimum depth: 1041.690697 meters looking forward 0.000000 meters along route # Maximum depth: 1041.690697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.690697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.827146; captureRadius = 10; duration = 119; initialDepth = 990.948242; finalDepth = 991.690697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.690697 # Seafloor depth:-1041.690697 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 119.608441 meters # Minimum depth: 1040.948242 meters looking forward 0.000000 meters along route # Maximum depth: 1040.948242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.948242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736017; longitude = -121.827615; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 992.586391; finalDepth = 990.948242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.948242 # Seafloor depth:-1040.948242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1042.586391 meters looking forward 0.000000 meters along route # Maximum depth: 1042.586391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.586391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735603; longitude = -121.827941; captureRadius = 10; duration = 119; initialDepth = 991.066205; finalDepth = 992.586391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.586391 # Seafloor depth:-1042.586391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1041.066205 meters looking forward 0.000000 meters along route # Maximum depth: 1041.066205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.066205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.828572; captureRadius = 10; duration = 119; initialDepth = 991.981343; finalDepth = 991.066205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.066205 # Seafloor depth:-1041.066205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1041.981343 meters looking forward 0.000000 meters along route # Maximum depth: 1041.981343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.981343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.829225; captureRadius = 10; duration = 119; initialDepth = 993.230596; finalDepth = 991.981343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.981343 # Seafloor depth:-1041.981343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1043.230596 meters looking forward 0.000000 meters along route # Maximum depth: 1043.230596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.230596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.829878; captureRadius = 10; duration = 119; initialDepth = 992.332636; finalDepth = 993.230596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.230596 # Seafloor depth:-1043.230596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1042.332636 meters looking forward 0.000000 meters along route # Maximum depth: 1042.332636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.332636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.830532; captureRadius = 10; duration = 119; initialDepth = 995.623477; finalDepth = 992.332636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.332636 # Seafloor depth:-1042.332636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1045.623477 meters looking forward 0.000000 meters along route # Maximum depth: 1045.623477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.623477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.831185; captureRadius = 10; duration = 119; initialDepth = 994.514154; finalDepth = 995.623477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.623477 # Seafloor depth:-1045.623477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1044.514154 meters looking forward 0.000000 meters along route # Maximum depth: 1044.514154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.514154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.831839; captureRadius = 10; duration = 119; initialDepth = 991.098249; finalDepth = 994.514154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.514154 # Seafloor depth:-1044.514154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1041.098249 meters looking forward 0.000000 meters along route # Maximum depth: 1041.098249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.098249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.832492; captureRadius = 10; duration = 119; initialDepth = 993.545515; finalDepth = 991.098249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.098249 # Seafloor depth:-1041.098249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1043.545515 meters looking forward 0.000000 meters along route # Maximum depth: 1043.545515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.545515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728938; longitude = -121.833193; captureRadius = 10; duration = 119; initialDepth = 996.735059; finalDepth = 993.545515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.545515 # Seafloor depth:-1043.545515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1046.735059 meters looking forward 0.000000 meters along route # Maximum depth: 1046.735059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.735059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.833799; captureRadius = 10; duration = 119; initialDepth = 992.732480; finalDepth = 996.735059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.735059 # Seafloor depth:-1046.735059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1042.732480 meters looking forward 0.000000 meters along route # Maximum depth: 1042.732480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.732480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.834452; captureRadius = 10; duration = 119; initialDepth = 996.208828; finalDepth = 992.732480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.73248 # Seafloor depth:-1042.732480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1046.208828 meters looking forward 0.000000 meters along route # Maximum depth: 1046.208828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.208828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726482; longitude = -121.835128; captureRadius = 10; duration = 119; initialDepth = 991.313212; finalDepth = 996.208828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.208828 # Seafloor depth:-1046.208828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1041.313212 meters looking forward 0.000000 meters along route # Maximum depth: 1041.313212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.313212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.835759; captureRadius = 10; duration = 119; initialDepth = 990.193782; finalDepth = 991.313212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.313212 # Seafloor depth:-1041.313212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1040.193782 meters looking forward 0.000000 meters along route # Maximum depth: 1040.193782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.193782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.836412; captureRadius = 10; duration = 119; initialDepth = 988.140975; finalDepth = 990.193782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.193782 # Seafloor depth:-1040.193782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1038.140975 meters looking forward 0.000000 meters along route # Maximum depth: 1038.140975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.140975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.837065; captureRadius = 10; duration = 119; initialDepth = 991.754514; finalDepth = 988.140975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.140975 # Seafloor depth:-1038.140975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1041.754514 meters looking forward 0.000000 meters along route # Maximum depth: 1041.754514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.754514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.837719; captureRadius = 10; duration = 119; initialDepth = 988.462178; finalDepth = 991.754514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.754514 # Seafloor depth:-1041.754514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1038.462178 meters looking forward 0.000000 meters along route # Maximum depth: 1038.462178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.462178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.838372; captureRadius = 10; duration = 119; initialDepth = 989.935843; finalDepth = 988.462178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.462178 # Seafloor depth:-1038.462178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.608441 meters # Minimum depth: 1039.935843 meters looking forward 0.000000 meters along route # Maximum depth: 1039.935843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.935843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.839025; captureRadius = 10; duration = 119; initialDepth = 989.311859; finalDepth = 989.935843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.935843 # Seafloor depth:-1039.935843 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 119.608441 meters # Minimum depth: 1039.311859 meters looking forward 0.000000 meters along route # Maximum depth: 1039.311859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.311859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720755; longitude = -121.839640; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 990.418411; finalDepth = 989.311859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.311859 # Seafloor depth:-1039.311859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.608441 meters # Minimum depth: 1040.418411 meters looking forward 0.000000 meters along route # Maximum depth: 1040.418411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.418411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.840220; captureRadius = 10; duration = 119; initialDepth = 990.858734; finalDepth = 990.418411; 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 # Actual altitude: 50 # Commanded vehicle depth:990.418411 # Seafloor depth:-1040.418411 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 119.608441 meters # Minimum depth: 1040.858734 meters looking forward 0.000000 meters along route # Maximum depth: 1040.858734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.858734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721927; longitude = -121.840989; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 990.868419; finalDepth = 990.858734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.858734 # Seafloor depth:-1040.858734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1040.868419 meters looking forward 0.000000 meters along route # Maximum depth: 1040.868419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.868419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.840637; captureRadius = 10; duration = 119; initialDepth = 990.996102; finalDepth = 990.868419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.868419 # Seafloor depth:-1040.868419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1040.996102 meters looking forward 0.000000 meters along route # Maximum depth: 1040.996102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.996102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.839971; captureRadius = 10; duration = 119; initialDepth = 993.798110; finalDepth = 990.996102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.996102 # Seafloor depth:-1040.996102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1043.798110 meters looking forward 0.000000 meters along route # Maximum depth: 1043.798110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.798110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724061; longitude = -121.839274; captureRadius = 10; duration = 119; initialDepth = 1000.049115; finalDepth = 993.798110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.79811 # Seafloor depth:-1043.798110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1050.049115 meters looking forward 0.000000 meters along route # Maximum depth: 1050.049115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.049115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.838638; captureRadius = 10; duration = 119; initialDepth = 998.168967; finalDepth = 1000.049115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.049115 # Seafloor depth:-1050.049115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1048.168967 meters looking forward 0.000000 meters along route # Maximum depth: 1048.168967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.168967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.837971; captureRadius = 10; duration = 119; initialDepth = 994.389981; finalDepth = 998.168967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.168967 # Seafloor depth:-1048.168967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1044.389981 meters looking forward 0.000000 meters along route # Maximum depth: 1044.389981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.389981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.837305; captureRadius = 10; duration = 119; initialDepth = 991.986738; finalDepth = 994.389981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.389981 # Seafloor depth:-1044.389981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1041.986738 meters looking forward 0.000000 meters along route # Maximum depth: 1041.986738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.986738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.836638; captureRadius = 10; duration = 119; initialDepth = 996.102046; finalDepth = 991.986738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.986738 # Seafloor depth:-1041.986738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1046.102046 meters looking forward 0.000000 meters along route # Maximum depth: 1046.102046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.102046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728187; longitude = -121.835957; captureRadius = 10; duration = 119; initialDepth = 993.986558; finalDepth = 996.102046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.102046 # Seafloor depth:-1046.102046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1043.986558 meters looking forward 0.000000 meters along route # Maximum depth: 1043.986558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.986558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.835305; captureRadius = 10; duration = 119; initialDepth = 994.461070; finalDepth = 993.986558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.986558 # Seafloor depth:-1043.986558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1044.461070 meters looking forward 0.000000 meters along route # Maximum depth: 1044.461070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.461070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.834639; captureRadius = 10; duration = 119; initialDepth = 992.937894; finalDepth = 994.461070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.46107 # Seafloor depth:-1044.461070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1042.937894 meters looking forward 0.000000 meters along route # Maximum depth: 1042.937894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.937894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.833972; captureRadius = 10; duration = 119; initialDepth = 994.896397; finalDepth = 992.937894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.937894 # Seafloor depth:-1042.937894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1044.896397 meters looking forward 0.000000 meters along route # Maximum depth: 1044.896397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.896397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.833305; captureRadius = 10; duration = 119; initialDepth = 994.205639; finalDepth = 994.896397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.896397 # Seafloor depth:-1044.896397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1044.205639 meters looking forward 0.000000 meters along route # Maximum depth: 1044.205639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.205639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.832639; captureRadius = 10; duration = 119; initialDepth = 993.367781; finalDepth = 994.205639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.205639 # Seafloor depth:-1044.205639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1043.367781 meters looking forward 0.000000 meters along route # Maximum depth: 1043.367781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.367781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.831972; captureRadius = 10; duration = 119; initialDepth = 991.961045; finalDepth = 993.367781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.367781 # Seafloor depth:-1043.367781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1041.961045 meters looking forward 0.000000 meters along route # Maximum depth: 1041.961045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.961045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734033; longitude = -121.831258; captureRadius = 10; duration = 119; initialDepth = 990.841459; finalDepth = 991.961045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.961045 # Seafloor depth:-1041.961045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1040.841459 meters looking forward 0.000000 meters along route # Maximum depth: 1040.841459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.841459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.830639; captureRadius = 10; duration = 119; initialDepth = 990.244762; finalDepth = 990.841459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.841459 # Seafloor depth:-1040.841459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1040.244762 meters looking forward 0.000000 meters along route # Maximum depth: 1040.244762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.244762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.829973; captureRadius = 10; duration = 119; initialDepth = 987.349663; finalDepth = 990.244762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.244762 # Seafloor depth:-1040.244762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1037.349663 meters looking forward 0.000000 meters along route # Maximum depth: 1037.349663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.349663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.829306; captureRadius = 10; duration = 119; initialDepth = 992.637929; finalDepth = 987.349663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.349663 # Seafloor depth:-1037.349663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1042.637929 meters looking forward 0.000000 meters along route # Maximum depth: 1042.637929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.637929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.828640; captureRadius = 10; duration = 119; initialDepth = 990.429388; finalDepth = 992.637929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.637929 # Seafloor depth:-1042.637929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1040.429388 meters looking forward 0.000000 meters along route # Maximum depth: 1040.429388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.429388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738160; longitude = -121.827941; captureRadius = 10; duration = 119; initialDepth = 991.426069; finalDepth = 990.429388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.429388 # Seafloor depth:-1040.429388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1041.426069 meters looking forward 0.000000 meters along route # Maximum depth: 1041.426069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.426069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.827307; captureRadius = 10; duration = 119; initialDepth = 988.305877; finalDepth = 991.426069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.426069 # Seafloor depth:-1041.426069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 119.608441 meters # Minimum depth: 1038.305877 meters looking forward 0.000000 meters along route # Maximum depth: 1038.305877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.305877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.826640; captureRadius = 10; duration = 119; initialDepth = 989.275146; finalDepth = 988.305877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.305877 # Seafloor depth:-1038.305877 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 119.608441 meters # Minimum depth: 1039.275146 meters looking forward 0.000000 meters along route # Maximum depth: 1039.275146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.275146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740583; longitude = -121.825993; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 990.572612; finalDepth = 989.275146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.275146 # Seafloor depth:-1039.275146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 119.608441 meters # Minimum depth: 1040.572612 meters looking forward 0.000000 meters along route # Maximum depth: 1040.572612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.572612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.826576; captureRadius = 10; duration = 119; initialDepth = 991.596069; finalDepth = 990.572612; 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 # Actual altitude: 50 # Commanded vehicle depth:990.572612 # Seafloor depth:-1040.572612 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 119.608441 meters # Minimum depth: 1041.596069 meters looking forward 0.000000 meters along route # Maximum depth: 1041.596069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.596069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741442; longitude = -121.827659; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 991.199003; finalDepth = 991.596069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.596069 # Seafloor depth:-1041.596069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1041.199003 meters looking forward 0.000000 meters along route # Maximum depth: 1041.199003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.199003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741435; longitude = -121.827665; captureRadius = 10; duration = 119; initialDepth = 992.040664; finalDepth = 991.199003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.199003 # Seafloor depth:-1041.199003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1042.040664 meters looking forward 0.000000 meters along route # Maximum depth: 1042.040664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.040664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.828315; captureRadius = 10; duration = 119; initialDepth = 991.561786; finalDepth = 992.040664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.040664 # Seafloor depth:-1042.040664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1041.561786 meters looking forward 0.000000 meters along route # Maximum depth: 1041.561786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.561786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.828966; captureRadius = 10; duration = 119; initialDepth = 990.794968; finalDepth = 991.561786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.561786 # Seafloor depth:-1041.561786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1040.794968 meters looking forward 0.000000 meters along route # Maximum depth: 1040.794968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.794968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.829617; captureRadius = 10; duration = 119; initialDepth = 994.619148; finalDepth = 990.794968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.794968 # Seafloor depth:-1040.794968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1044.619148 meters looking forward 0.000000 meters along route # Maximum depth: 1044.619148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.619148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.830268; captureRadius = 10; duration = 119; initialDepth = 997.350135; finalDepth = 994.619148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.619148 # Seafloor depth:-1044.619148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1047.350135 meters looking forward 0.000000 meters along route # Maximum depth: 1047.350135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.350135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.830920; captureRadius = 10; duration = 119; initialDepth = 996.159711; finalDepth = 997.350135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.350135 # Seafloor depth:-1047.350135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1046.159711 meters looking forward 0.000000 meters along route # Maximum depth: 1046.159711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.159711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.831571; captureRadius = 10; duration = 119; initialDepth = 993.165922; finalDepth = 996.159711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.159711 # Seafloor depth:-1046.159711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1043.165922 meters looking forward 0.000000 meters along route # Maximum depth: 1043.165922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.165922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.832222; captureRadius = 10; duration = 119; initialDepth = 994.783656; finalDepth = 993.165922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.165922 # Seafloor depth:-1043.165922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1044.783656 meters looking forward 0.000000 meters along route # Maximum depth: 1044.783656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.783656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734748; longitude = -121.832916; captureRadius = 10; duration = 119; initialDepth = 996.901393; finalDepth = 994.783656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.783656 # Seafloor depth:-1044.783656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1046.901393 meters looking forward 0.000000 meters along route # Maximum depth: 1046.901393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.901393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.833524; captureRadius = 10; duration = 119; initialDepth = 997.498653; finalDepth = 996.901393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.901393 # Seafloor depth:-1046.901393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1047.498653 meters looking forward 0.000000 meters along route # Maximum depth: 1047.498653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.498653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.834176; captureRadius = 10; duration = 119; initialDepth = 996.705118; finalDepth = 997.498653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.498653 # Seafloor depth:-1047.498653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1046.705118 meters looking forward 0.000000 meters along route # Maximum depth: 1046.705118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.705118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732284; longitude = -121.834851; captureRadius = 10; duration = 119; initialDepth = 995.627401; finalDepth = 996.705118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.705118 # Seafloor depth:-1046.705118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1045.627401 meters looking forward 0.000000 meters along route # Maximum depth: 1045.627401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.627401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.835478; captureRadius = 10; duration = 119; initialDepth = 997.015808; finalDepth = 995.627401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.627401 # Seafloor depth:-1045.627401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1047.015808 meters looking forward 0.000000 meters along route # Maximum depth: 1047.015808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.015808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.836129; captureRadius = 10; duration = 119; initialDepth = 998.908707; finalDepth = 997.015808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.015808 # Seafloor depth:-1047.015808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1048.908707 meters looking forward 0.000000 meters along route # Maximum depth: 1048.908707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.908707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729820; longitude = -121.836786; captureRadius = 10; duration = 119; initialDepth = 994.141076; finalDepth = 998.908707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.908707 # Seafloor depth:-1048.908707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1044.141076 meters looking forward 0.000000 meters along route # Maximum depth: 1044.141076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.141076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.837432; captureRadius = 10; duration = 119; initialDepth = 997.041322; finalDepth = 994.141076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.141076 # Seafloor depth:-1044.141076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1047.041322 meters looking forward 0.000000 meters along route # Maximum depth: 1047.041322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.041322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.838083; captureRadius = 10; duration = 119; initialDepth = 997.748010; finalDepth = 997.041322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.041322 # Seafloor depth:-1047.041322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1047.748010 meters looking forward 0.000000 meters along route # Maximum depth: 1047.748010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.748010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.838734; captureRadius = 10; duration = 119; initialDepth = 995.055403; finalDepth = 997.748010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.74801 # Seafloor depth:-1047.748010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1045.055403 meters looking forward 0.000000 meters along route # Maximum depth: 1045.055403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.055403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.839385; captureRadius = 10; duration = 119; initialDepth = 995.723132; finalDepth = 995.055403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.055403 # Seafloor depth:-1045.055403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1045.723132 meters looking forward 0.000000 meters along route # Maximum depth: 1045.723132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.723132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.840036; captureRadius = 10; duration = 119; initialDepth = 993.783879; finalDepth = 995.723132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.723132 # Seafloor depth:-1045.723132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1043.783879 meters looking forward 0.000000 meters along route # Maximum depth: 1043.783879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.783879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.840688; captureRadius = 10; duration = 119; initialDepth = 994.347529; finalDepth = 993.783879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.783879 # Seafloor depth:-1043.783879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1044.347529 meters looking forward 0.000000 meters along route # Maximum depth: 1044.347529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.347529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.841339; captureRadius = 10; duration = 119; initialDepth = 993.971653; finalDepth = 994.347529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.347529 # Seafloor depth:-1044.347529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.608441 meters # Minimum depth: 1043.971653 meters looking forward 0.000000 meters along route # Maximum depth: 1043.971653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.971653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723133; longitude = -121.842038; captureRadius = 10; duration = 119; initialDepth = 995.924591; finalDepth = 993.971653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.971653 # Seafloor depth:-1043.971653 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 119.608441 meters # Minimum depth: 1045.924591 meters looking forward 0.000000 meters along route # Maximum depth: 1045.924591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.924591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722263; longitude = -121.842721; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1000.617572; finalDepth = 995.924591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.924591 # Seafloor depth:-1045.924591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.608441 meters # Minimum depth: 1050.617572 meters looking forward 0.000000 meters along route # Maximum depth: 1050.617572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.617572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722613; longitude = -121.843143; captureRadius = 10; duration = 119; initialDepth = 996.641144; finalDepth = 1000.617572; 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 # Actual altitude: 50 # Commanded vehicle depth:1000.617572 # Seafloor depth:-1050.617572 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 119.608441 meters # Minimum depth: 1046.641144 meters looking forward 0.000000 meters along route # Maximum depth: 1046.641144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.641144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723273; longitude = -121.843938; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 995.649965; finalDepth = 996.641144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.641144 # Seafloor depth:-1046.641144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1045.649965 meters looking forward 0.000000 meters along route # Maximum depth: 1045.649965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.649965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.843336; captureRadius = 10; duration = 119; initialDepth = 996.129874; finalDepth = 995.649965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.649965 # Seafloor depth:-1045.649965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.129874 meters looking forward 0.000000 meters along route # Maximum depth: 1046.129874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.129874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.842670; captureRadius = 10; duration = 119; initialDepth = 1000.450575; finalDepth = 996.129874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.129874 # Seafloor depth:-1046.129874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1050.450575 meters looking forward 0.000000 meters along route # Maximum depth: 1050.450575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.450575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.842005; captureRadius = 10; duration = 119; initialDepth = 999.713017; finalDepth = 1000.450575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.450575 # Seafloor depth:-1050.450575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1049.713017 meters looking forward 0.000000 meters along route # Maximum depth: 1049.713017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.713017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.841339; captureRadius = 10; duration = 119; initialDepth = 997.358976; finalDepth = 999.713017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.713017 # Seafloor depth:-1049.713017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1047.358976 meters looking forward 0.000000 meters along route # Maximum depth: 1047.358976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.358976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727362; longitude = -121.840656; captureRadius = 10; duration = 119; initialDepth = 996.718387; finalDepth = 997.358976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.358976 # Seafloor depth:-1047.358976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.718387 meters looking forward 0.000000 meters along route # Maximum depth: 1046.718387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.718387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.840008; captureRadius = 10; duration = 119; initialDepth = 996.626161; finalDepth = 996.718387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.718387 # Seafloor depth:-1046.718387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.626161 meters looking forward 0.000000 meters along route # Maximum depth: 1046.626161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.626161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.839342; captureRadius = 10; duration = 119; initialDepth = 1000.842526; finalDepth = 996.626161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.626161 # Seafloor depth:-1046.626161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1050.842526 meters looking forward 0.000000 meters along route # Maximum depth: 1050.842526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.842526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.838677; captureRadius = 10; duration = 119; initialDepth = 1003.412950; finalDepth = 1000.842526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.842526 # Seafloor depth:-1050.842526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1053.412950 meters looking forward 0.000000 meters along route # Maximum depth: 1053.412950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.412950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.838011; captureRadius = 10; duration = 119; initialDepth = 1003.651192; finalDepth = 1003.412950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.41295 # Seafloor depth:-1053.412950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1053.651192 meters looking forward 0.000000 meters along route # Maximum depth: 1053.651192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.651192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731494; longitude = -121.837339; captureRadius = 10; duration = 119; initialDepth = 997.131863; finalDepth = 1003.651192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.651192 # Seafloor depth:-1053.651192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1047.131863 meters looking forward 0.000000 meters along route # Maximum depth: 1047.131863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.131863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.836680; captureRadius = 10; duration = 119; initialDepth = 996.018915; finalDepth = 997.131863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.131863 # Seafloor depth:-1047.131863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.018915 meters looking forward 0.000000 meters along route # Maximum depth: 1046.018915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.018915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733216; longitude = -121.835957; captureRadius = 10; duration = 119; initialDepth = 997.416842; finalDepth = 996.018915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.018915 # Seafloor depth:-1046.018915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1047.416842 meters looking forward 0.000000 meters along route # Maximum depth: 1047.416842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.416842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.835348; captureRadius = 10; duration = 119; initialDepth = 996.603452; finalDepth = 997.416842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.416842 # Seafloor depth:-1047.416842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.603452 meters looking forward 0.000000 meters along route # Maximum depth: 1046.603452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.603452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.834683; captureRadius = 10; duration = 119; initialDepth = 996.895327; finalDepth = 996.603452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.603452 # Seafloor depth:-1046.603452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.895327 meters looking forward 0.000000 meters along route # Maximum depth: 1046.895327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.895327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.834017; captureRadius = 10; duration = 119; initialDepth = 993.850904; finalDepth = 996.895327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.895327 # Seafloor depth:-1046.895327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1043.850904 meters looking forward 0.000000 meters along route # Maximum depth: 1043.850904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.850904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.833352; captureRadius = 10; duration = 119; initialDepth = 995.854775; finalDepth = 993.850904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.850904 # Seafloor depth:-1043.850904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1045.854775 meters looking forward 0.000000 meters along route # Maximum depth: 1045.854775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.854775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737348; longitude = -121.832640; captureRadius = 10; duration = 119; initialDepth = 994.034258; finalDepth = 995.854775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.854775 # Seafloor depth:-1045.854775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.034258 meters looking forward 0.000000 meters along route # Maximum depth: 1044.034258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.034258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.832020; captureRadius = 10; duration = 119; initialDepth = 994.924020; finalDepth = 994.034258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.034258 # Seafloor depth:-1044.034258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.924020 meters looking forward 0.000000 meters along route # Maximum depth: 1044.924020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.924020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.831355; captureRadius = 10; duration = 119; initialDepth = 995.307107; finalDepth = 994.924020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.92402 # Seafloor depth:-1044.924020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1045.307107 meters looking forward 0.000000 meters along route # Maximum depth: 1045.307107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.307107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.830689; captureRadius = 10; duration = 119; initialDepth = 993.333941; finalDepth = 995.307107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.307107 # Seafloor depth:-1045.307107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1043.333941 meters looking forward 0.000000 meters along route # Maximum depth: 1043.333941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.333941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.830023; captureRadius = 10; duration = 119; initialDepth = 994.289639; finalDepth = 993.333941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.333941 # Seafloor depth:-1043.333941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.289639 meters looking forward 0.000000 meters along route # Maximum depth: 1044.289639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.289639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741480; longitude = -121.829323; captureRadius = 10; duration = 119; initialDepth = 996.032497; finalDepth = 994.289639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.289639 # Seafloor depth:-1044.289639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.032497 meters looking forward 0.000000 meters along route # Maximum depth: 1046.032497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.032497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.828692; captureRadius = 10; duration = 119; initialDepth = 996.790462; finalDepth = 996.032497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.032497 # Seafloor depth:-1046.032497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1046.790462 meters looking forward 0.000000 meters along route # Maximum depth: 1046.790462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.790462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.828026; captureRadius = 10; duration = 119; initialDepth = 999.201332; finalDepth = 996.790462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.790462 # Seafloor depth:-1046.790462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1049.201332 meters looking forward 0.000000 meters along route # Maximum depth: 1049.201332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.201332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.827361; captureRadius = 10; duration = 119; initialDepth = 1000.034803; finalDepth = 999.201332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.201332 # Seafloor depth:-1049.201332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1050.034803 meters looking forward 0.000000 meters along route # Maximum depth: 1050.034803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.034803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.826695; captureRadius = 10; duration = 119; initialDepth = 997.737578; finalDepth = 1000.034803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.034803 # Seafloor depth:-1050.034803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1047.737578 meters looking forward 0.000000 meters along route # Maximum depth: 1047.737578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.737578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745611; longitude = -121.826006; captureRadius = 10; duration = 119; initialDepth = 994.303456; finalDepth = 997.737578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.737578 # Seafloor depth:-1047.737578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.303456 meters looking forward 0.000000 meters along route # Maximum depth: 1044.303456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.303456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.825364; captureRadius = 10; duration = 119; initialDepth = 992.726210; finalDepth = 994.303456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.303456 # Seafloor depth:-1044.303456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1042.726210 meters looking forward 0.000000 meters along route # Maximum depth: 1042.726210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.726210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.824698; captureRadius = 10; duration = 119; initialDepth = 989.073482; finalDepth = 992.726210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.72621 # Seafloor depth:-1042.726210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.073482 meters looking forward 0.000000 meters along route # Maximum depth: 1039.073482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.073482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.824033; captureRadius = 10; duration = 119; initialDepth = 989.444409; finalDepth = 989.073482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.073482 # Seafloor depth:-1039.073482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.444409 meters looking forward 0.000000 meters along route # Maximum depth: 1039.444409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.444409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.823367; captureRadius = 10; duration = 119; initialDepth = 992.776208; finalDepth = 989.444409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.444409 # Seafloor depth:-1039.444409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1042.776208 meters looking forward 0.000000 meters along route # Maximum depth: 1042.776208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.776208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749743; longitude = -121.822689; captureRadius = 10; duration = 119; initialDepth = 991.312217; finalDepth = 992.776208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.776208 # Seafloor depth:-1042.776208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.312217 meters looking forward 0.000000 meters along route # Maximum depth: 1041.312217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.312217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.822036; captureRadius = 10; duration = 119; initialDepth = 992.062324; finalDepth = 991.312217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.312217 # Seafloor depth:-1041.312217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1042.062324 meters looking forward 0.000000 meters along route # Maximum depth: 1042.062324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.062324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.821370; captureRadius = 10; duration = 119; initialDepth = 988.177156; finalDepth = 992.062324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.062324 # Seafloor depth:-1042.062324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1038.177156 meters looking forward 0.000000 meters along route # Maximum depth: 1038.177156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.177156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.820704; captureRadius = 10; duration = 119; initialDepth = 990.250814; finalDepth = 988.177156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.177156 # Seafloor depth:-1038.177156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.250814 meters looking forward 0.000000 meters along route # Maximum depth: 1040.250814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.250814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.820039; captureRadius = 10; duration = 119; initialDepth = 987.729784; finalDepth = 990.250814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.250814 # Seafloor depth:-1040.250814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1037.729784 meters looking forward 0.000000 meters along route # Maximum depth: 1037.729784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.729784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753875; longitude = -121.819373; captureRadius = 10; duration = 119; initialDepth = 990.265564; finalDepth = 987.729784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.729784 # Seafloor depth:-1037.729784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.265564 meters looking forward 0.000000 meters along route # Maximum depth: 1040.265564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.265564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.818708; captureRadius = 10; duration = 119; initialDepth = 991.135227; finalDepth = 990.265564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.265564 # Seafloor depth:-1040.265564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.135227 meters looking forward 0.000000 meters along route # Maximum depth: 1041.135227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.135227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755597; longitude = -121.817990; captureRadius = 10; duration = 119; initialDepth = 991.080217; finalDepth = 991.135227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.135227 # Seafloor depth:-1041.135227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.080217 meters looking forward 0.000000 meters along route # Maximum depth: 1041.080217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.080217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.817376; captureRadius = 10; duration = 119; initialDepth = 990.522888; finalDepth = 991.080217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.080217 # Seafloor depth:-1041.080217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.522888 meters looking forward 0.000000 meters along route # Maximum depth: 1040.522888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.522888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.816711; captureRadius = 10; duration = 119; initialDepth = 990.875528; finalDepth = 990.522888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.522888 # Seafloor depth:-1040.522888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.875528 meters looking forward 0.000000 meters along route # Maximum depth: 1040.875528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.875528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.816045; captureRadius = 10; duration = 119; initialDepth = 988.284570; finalDepth = 990.875528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.875528 # Seafloor depth:-1040.875528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1038.284570 meters looking forward 0.000000 meters along route # Maximum depth: 1038.284570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.284570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.815379; captureRadius = 10; duration = 119; initialDepth = 987.877310; finalDepth = 988.284570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.28457 # Seafloor depth:-1038.284570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1037.877310 meters looking forward 0.000000 meters along route # Maximum depth: 1037.877310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.877310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759729; longitude = -121.814674; captureRadius = 10; duration = 119; initialDepth = 988.844908; finalDepth = 987.877310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.87731 # Seafloor depth:-1037.877310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1038.844908 meters looking forward 0.000000 meters along route # Maximum depth: 1038.844908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.844908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.814048; captureRadius = 10; duration = 119; initialDepth = 989.289724; finalDepth = 988.844908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.844908 # Seafloor depth:-1038.844908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.289724 meters looking forward 0.000000 meters along route # Maximum depth: 1039.289724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.289724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.813383; captureRadius = 10; duration = 119; initialDepth = 992.399627; finalDepth = 989.289724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.289724 # Seafloor depth:-1039.289724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1042.399627 meters looking forward 0.000000 meters along route # Maximum depth: 1042.399627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.399627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.812717; captureRadius = 10; duration = 119; initialDepth = 994.862371; finalDepth = 992.399627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.399627 # Seafloor depth:-1042.399627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.862371 meters looking forward 0.000000 meters along route # Maximum depth: 1044.862371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.862371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.812051; captureRadius = 10; duration = 119; initialDepth = 994.380048; finalDepth = 994.862371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.862371 # Seafloor depth:-1044.862371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1044.380048 meters looking forward 0.000000 meters along route # Maximum depth: 1044.380048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.380048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763861; longitude = -121.811357; captureRadius = 10; duration = 119; initialDepth = 990.635496; finalDepth = 994.380048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.380048 # Seafloor depth:-1044.380048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.635496 meters looking forward 0.000000 meters along route # Maximum depth: 1040.635496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.635496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.810720; captureRadius = 10; duration = 119; initialDepth = 990.943974; finalDepth = 990.635496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.635496 # Seafloor depth:-1040.635496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.943974 meters looking forward 0.000000 meters along route # Maximum depth: 1040.943974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.943974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.810054; captureRadius = 10; duration = 119; initialDepth = 989.662735; finalDepth = 990.943974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.943974 # Seafloor depth:-1040.943974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.662735 meters looking forward 0.000000 meters along route # Maximum depth: 1039.662735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.662735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.809389; captureRadius = 10; duration = 119; initialDepth = 991.015410; finalDepth = 989.662735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.662735 # Seafloor depth:-1039.662735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.015410 meters looking forward 0.000000 meters along route # Maximum depth: 1041.015410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.015410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.808723; captureRadius = 10; duration = 119; initialDepth = 990.821183; finalDepth = 991.015410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.01541 # Seafloor depth:-1041.015410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.821183 meters looking forward 0.000000 meters along route # Maximum depth: 1040.821183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.821183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767993; longitude = -121.808040; captureRadius = 10; duration = 119; initialDepth = 993.071361; finalDepth = 990.821183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.821183 # Seafloor depth:-1040.821183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1043.071361 meters looking forward 0.000000 meters along route # Maximum depth: 1043.071361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.071361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.807392; captureRadius = 10; duration = 119; initialDepth = 995.122731; finalDepth = 993.071361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.071361 # Seafloor depth:-1043.071361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1045.122731 meters looking forward 0.000000 meters along route # Maximum depth: 1045.122731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.122731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.806726; captureRadius = 10; duration = 119; initialDepth = 993.217434; finalDepth = 995.122731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.122731 # Seafloor depth:-1045.122731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1043.217434 meters looking forward 0.000000 meters along route # Maximum depth: 1043.217434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.217434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.806061; captureRadius = 10; duration = 119; initialDepth = 993.763160; finalDepth = 993.217434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.217434 # Seafloor depth:-1043.217434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1043.763160 meters looking forward 0.000000 meters along route # Maximum depth: 1043.763160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.763160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.805395; captureRadius = 10; duration = 119; initialDepth = 988.671341; finalDepth = 993.763160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.76316 # Seafloor depth:-1043.763160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1038.671341 meters looking forward 0.000000 meters along route # Maximum depth: 1038.671341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.671341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772125; longitude = -121.804723; captureRadius = 10; duration = 119; initialDepth = 986.906557; finalDepth = 988.671341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.671341 # Seafloor depth:-1038.671341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1036.906557 meters looking forward 0.000000 meters along route # Maximum depth: 1036.906557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.906557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.804064; captureRadius = 10; duration = 119; initialDepth = 986.088851; finalDepth = 986.906557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.906557 # Seafloor depth:-1036.906557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1036.088851 meters looking forward 0.000000 meters along route # Maximum depth: 1036.088851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.088851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773846; longitude = -121.803341; captureRadius = 10; duration = 119; initialDepth = 989.063053; finalDepth = 986.088851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.088851 # Seafloor depth:-1036.088851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.063053 meters looking forward 0.000000 meters along route # Maximum depth: 1039.063053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.063053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.802732; captureRadius = 10; duration = 119; initialDepth = 991.357896; finalDepth = 989.063053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.063053 # Seafloor depth:-1039.063053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.357896 meters looking forward 0.000000 meters along route # Maximum depth: 1041.357896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.357896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.802067; captureRadius = 10; duration = 119; initialDepth = 991.077214; finalDepth = 991.357896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.357896 # Seafloor depth:-1041.357896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.077214 meters looking forward 0.000000 meters along route # Maximum depth: 1041.077214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.077214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.801401; captureRadius = 10; duration = 119; initialDepth = 991.492231; finalDepth = 991.077214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.077214 # Seafloor depth:-1041.077214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1041.492231 meters looking forward 0.000000 meters along route # Maximum depth: 1041.492231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.492231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.800735; captureRadius = 10; duration = 119; initialDepth = 990.484764; finalDepth = 991.492231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.492231 # Seafloor depth:-1041.492231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1040.484764 meters looking forward 0.000000 meters along route # Maximum depth: 1040.484764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.484764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777978; longitude = -121.800024; captureRadius = 10; duration = 119; initialDepth = 988.441979; finalDepth = 990.484764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.484764 # Seafloor depth:-1040.484764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1038.441979 meters looking forward 0.000000 meters along route # Maximum depth: 1038.441979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.441979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.799404; captureRadius = 10; duration = 119; initialDepth = 985.446835; finalDepth = 988.441979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.441979 # Seafloor depth:-1038.441979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1035.446835 meters looking forward 0.000000 meters along route # Maximum depth: 1035.446835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.446835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.798739; captureRadius = 10; duration = 119; initialDepth = 989.440778; finalDepth = 985.446835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.446835 # Seafloor depth:-1035.446835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1039.440778 meters looking forward 0.000000 meters along route # Maximum depth: 1039.440778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.440778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.798073; captureRadius = 10; duration = 119; initialDepth = 985.849408; finalDepth = 989.440778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.440778 # Seafloor depth:-1039.440778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1035.849408 meters looking forward 0.000000 meters along route # Maximum depth: 1035.849408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.849408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.797407; captureRadius = 10; duration = 119; initialDepth = 984.465496; finalDepth = 985.849408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.849408 # Seafloor depth:-1035.849408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1034.465496 meters looking forward 0.000000 meters along route # Maximum depth: 1034.465496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.465496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782110; longitude = -121.796707; captureRadius = 10; duration = 119; initialDepth = 983.740319; finalDepth = 984.465496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.465496 # Seafloor depth:-1034.465496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1033.740319 meters looking forward 0.000000 meters along route # Maximum depth: 1033.740319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.740319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.796076; captureRadius = 10; duration = 119; initialDepth = 980.590459; finalDepth = 983.740319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.740319 # Seafloor depth:-1033.740319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1030.590459 meters looking forward 0.000000 meters along route # Maximum depth: 1030.590459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.590459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.795410; captureRadius = 10; duration = 119; initialDepth = 980.374963; finalDepth = 980.590459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.590459 # Seafloor depth:-1030.590459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1030.374963 meters looking forward 0.000000 meters along route # Maximum depth: 1030.374963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.374963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.794745; captureRadius = 10; duration = 119; initialDepth = 982.844335; finalDepth = 980.374963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.374963 # Seafloor depth:-1030.374963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1032.844335 meters looking forward 0.000000 meters along route # Maximum depth: 1032.844335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.844335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.794079; captureRadius = 10; duration = 119; initialDepth = 978.766282; finalDepth = 982.844335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.844335 # Seafloor depth:-1032.844335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1028.766282 meters looking forward 0.000000 meters along route # Maximum depth: 1028.766282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.766282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786242; longitude = -121.793391; captureRadius = 10; duration = 119; initialDepth = 978.800924; finalDepth = 978.766282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.766282 # Seafloor depth:-1028.766282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1028.800924 meters looking forward 0.000000 meters along route # Maximum depth: 1028.800924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.800924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.792748; captureRadius = 10; duration = 119; initialDepth = 980.343675; finalDepth = 978.800924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.800924 # Seafloor depth:-1028.800924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1030.343675 meters looking forward 0.000000 meters along route # Maximum depth: 1030.343675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.343675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.792082; captureRadius = 10; duration = 119; initialDepth = 978.279547; finalDepth = 980.343675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.343675 # Seafloor depth:-1030.343675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.608441 meters # Minimum depth: 1028.279547 meters looking forward 0.000000 meters along route # Maximum depth: 1028.279547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.279547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.791417; captureRadius = 10; duration = 119; initialDepth = 976.981445; finalDepth = 978.279547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.279547 # Seafloor depth:-1028.279547 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 119.608441 meters # Minimum depth: 1026.981445 meters looking forward 0.000000 meters along route # Maximum depth: 1026.981445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.981445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789685; longitude = -121.790627; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 977.334963; finalDepth = 976.981445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.981445 # Seafloor depth:-1026.981445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.608441 meters # Minimum depth: 1027.334963 meters looking forward 0.000000 meters along route # Maximum depth: 1027.334963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.334963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789963; longitude = -121.791179; captureRadius = 10; duration = 119; initialDepth = 980.584222; finalDepth = 977.334963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.334963 # Seafloor depth:-1027.334963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.608441 meters # Minimum depth: 1030.584222 meters looking forward 0.000000 meters along route # Maximum depth: 1030.584222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.584222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790520; longitude = -121.792285; captureRadius = 10; duration = 119; initialDepth = 985.270294; finalDepth = 980.584222; 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 # Actual altitude: 50 # Commanded vehicle depth:980.584222 # Seafloor depth:-1030.584222 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 119.608441 meters # Minimum depth: 1035.270294 meters looking forward 0.000000 meters along route # Maximum depth: 1035.270294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.270294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791055; longitude = -121.793348; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 989.483729; finalDepth = 985.270294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.270294 # Seafloor depth:-1035.270294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1039.483729 meters looking forward 0.000000 meters along route # Maximum depth: 1039.483729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.483729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.793683; captureRadius = 10; duration = 119; initialDepth = 984.136050; finalDepth = 989.483729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.483729 # Seafloor depth:-1039.483729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1034.136050 meters looking forward 0.000000 meters along route # Maximum depth: 1034.136050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.136050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.794346; captureRadius = 10; duration = 119; initialDepth = 983.090848; finalDepth = 984.136050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.13605 # Seafloor depth:-1034.136050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1033.090848 meters looking forward 0.000000 meters along route # Maximum depth: 1033.090848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.090848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788928; longitude = -121.795049; captureRadius = 10; duration = 119; initialDepth = 983.724446; finalDepth = 983.090848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.090848 # Seafloor depth:-1033.090848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1033.724446 meters looking forward 0.000000 meters along route # Maximum depth: 1033.724446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.724446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.795673; captureRadius = 10; duration = 119; initialDepth = 983.161906; finalDepth = 983.724446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.724446 # Seafloor depth:-1033.724446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1033.161906 meters looking forward 0.000000 meters along route # Maximum depth: 1033.161906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.161906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.796336; captureRadius = 10; duration = 119; initialDepth = 986.852063; finalDepth = 983.161906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.161906 # Seafloor depth:-1033.161906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1036.852063 meters looking forward 0.000000 meters along route # Maximum depth: 1036.852063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.852063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.796999; captureRadius = 10; duration = 119; initialDepth = 987.312448; finalDepth = 986.852063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.852063 # Seafloor depth:-1036.852063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1037.312448 meters looking forward 0.000000 meters along route # Maximum depth: 1037.312448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.312448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.797662; captureRadius = 10; duration = 119; initialDepth = 987.202376; finalDepth = 987.312448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.312448 # Seafloor depth:-1037.312448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1037.202376 meters looking forward 0.000000 meters along route # Maximum depth: 1037.202376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.202376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784781; longitude = -121.798366; captureRadius = 10; duration = 119; initialDepth = 987.112091; finalDepth = 987.202376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.202376 # Seafloor depth:-1037.202376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1037.112091 meters looking forward 0.000000 meters along route # Maximum depth: 1037.112091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.112091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.798989; captureRadius = 10; duration = 119; initialDepth = 990.233514; finalDepth = 987.112091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.112091 # Seafloor depth:-1037.112091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1040.233514 meters looking forward 0.000000 meters along route # Maximum depth: 1040.233514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.233514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.799652; captureRadius = 10; duration = 119; initialDepth = 990.073901; finalDepth = 990.233514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.233514 # Seafloor depth:-1040.233514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1040.073901 meters looking forward 0.000000 meters along route # Maximum depth: 1040.073901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.073901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.800315; captureRadius = 10; duration = 119; initialDepth = 989.209625; finalDepth = 990.073901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.073901 # Seafloor depth:-1040.073901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1039.209625 meters looking forward 0.000000 meters along route # Maximum depth: 1039.209625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.209625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.800978; captureRadius = 10; duration = 119; initialDepth = 993.118020; finalDepth = 989.209625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.209625 # Seafloor depth:-1039.209625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.118020 meters looking forward 0.000000 meters along route # Maximum depth: 1043.118020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.118020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780634; longitude = -121.801683; captureRadius = 10; duration = 119; initialDepth = 991.843068; finalDepth = 993.118020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.11802 # Seafloor depth:-1043.118020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1041.843068 meters looking forward 0.000000 meters along route # Maximum depth: 1041.843068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.843068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.802305; captureRadius = 10; duration = 119; initialDepth = 995.454482; finalDepth = 991.843068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.843068 # Seafloor depth:-1041.843068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.454482 meters looking forward 0.000000 meters along route # Maximum depth: 1045.454482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.454482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.802968; captureRadius = 10; duration = 119; initialDepth = 995.002016; finalDepth = 995.454482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.454482 # Seafloor depth:-1045.454482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.002016 meters looking forward 0.000000 meters along route # Maximum depth: 1045.002016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.002016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.803631; captureRadius = 10; duration = 119; initialDepth = 993.171247; finalDepth = 995.002016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.002016 # Seafloor depth:-1045.002016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.171247 meters looking forward 0.000000 meters along route # Maximum depth: 1043.171247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.171247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.804294; captureRadius = 10; duration = 119; initialDepth = 993.199948; finalDepth = 993.171247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.171247 # Seafloor depth:-1043.171247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.199948 meters looking forward 0.000000 meters along route # Maximum depth: 1043.199948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.199948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776487; longitude = -121.805000; captureRadius = 10; duration = 119; initialDepth = 992.665628; finalDepth = 993.199948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.199948 # Seafloor depth:-1043.199948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1042.665628 meters looking forward 0.000000 meters along route # Maximum depth: 1042.665628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.665628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.805621; captureRadius = 10; duration = 119; initialDepth = 991.840712; finalDepth = 992.665628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.665628 # Seafloor depth:-1042.665628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1041.840712 meters looking forward 0.000000 meters along route # Maximum depth: 1041.840712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.840712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.806284; captureRadius = 10; duration = 119; initialDepth = 996.237043; finalDepth = 991.840712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.840712 # Seafloor depth:-1041.840712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1046.237043 meters looking forward 0.000000 meters along route # Maximum depth: 1046.237043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.237043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.806947; captureRadius = 10; duration = 119; initialDepth = 996.061086; finalDepth = 996.237043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.237043 # Seafloor depth:-1046.237043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1046.061086 meters looking forward 0.000000 meters along route # Maximum depth: 1046.061086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.061086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.807610; captureRadius = 10; duration = 119; initialDepth = 996.771387; finalDepth = 996.061086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.061086 # Seafloor depth:-1046.061086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1046.771387 meters looking forward 0.000000 meters along route # Maximum depth: 1046.771387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.771387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772340; longitude = -121.808316; captureRadius = 10; duration = 119; initialDepth = 1001.222810; finalDepth = 996.771387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.771387 # Seafloor depth:-1046.771387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1051.222810 meters looking forward 0.000000 meters along route # Maximum depth: 1051.222810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.222810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.808937; captureRadius = 10; duration = 119; initialDepth = 995.831789; finalDepth = 1001.222810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.22281 # Seafloor depth:-1051.222810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.831789 meters looking forward 0.000000 meters along route # Maximum depth: 1045.831789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.831789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.809600; captureRadius = 10; duration = 119; initialDepth = 993.922842; finalDepth = 995.831789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.831789 # Seafloor depth:-1045.831789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.922842 meters looking forward 0.000000 meters along route # Maximum depth: 1043.922842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.922842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.810263; captureRadius = 10; duration = 119; initialDepth = 992.715540; finalDepth = 993.922842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.922842 # Seafloor depth:-1043.922842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1042.715540 meters looking forward 0.000000 meters along route # Maximum depth: 1042.715540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.715540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.810926; captureRadius = 10; duration = 119; initialDepth = 991.365521; finalDepth = 992.715540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.71554 # Seafloor depth:-1042.715540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1041.365521 meters looking forward 0.000000 meters along route # Maximum depth: 1041.365521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.365521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768193; longitude = -121.811633; captureRadius = 10; duration = 119; initialDepth = 996.174060; finalDepth = 991.365521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.365521 # Seafloor depth:-1041.365521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1046.174060 meters looking forward 0.000000 meters along route # Maximum depth: 1046.174060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.174060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.812253; captureRadius = 10; duration = 119; initialDepth = 1002.702872; finalDepth = 996.174060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.17406 # Seafloor depth:-1046.174060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1052.702872 meters looking forward 0.000000 meters along route # Maximum depth: 1052.702872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.702872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.812916; captureRadius = 10; duration = 119; initialDepth = 997.202480; finalDepth = 1002.702872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.702872 # Seafloor depth:-1052.702872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.202480 meters looking forward 0.000000 meters along route # Maximum depth: 1047.202480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.202480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.813579; captureRadius = 10; duration = 119; initialDepth = 999.212585; finalDepth = 997.202480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.20248 # Seafloor depth:-1047.202480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1049.212585 meters looking forward 0.000000 meters along route # Maximum depth: 1049.212585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.212585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.814242; captureRadius = 10; duration = 119; initialDepth = 996.454516; finalDepth = 999.212585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.212585 # Seafloor depth:-1049.212585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1046.454516 meters looking forward 0.000000 meters along route # Maximum depth: 1046.454516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.454516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764046; longitude = -121.814950; captureRadius = 10; duration = 119; initialDepth = 993.953307; finalDepth = 996.454516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.454516 # Seafloor depth:-1046.454516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.953307 meters looking forward 0.000000 meters along route # Maximum depth: 1043.953307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.953307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.815569; captureRadius = 10; duration = 119; initialDepth = 995.099982; finalDepth = 993.953307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.953307 # Seafloor depth:-1043.953307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.099982 meters looking forward 0.000000 meters along route # Maximum depth: 1045.099982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.099982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.816232; captureRadius = 10; duration = 119; initialDepth = 995.705701; finalDepth = 995.099982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.099982 # Seafloor depth:-1045.099982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.705701 meters looking forward 0.000000 meters along route # Maximum depth: 1045.705701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.705701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.816895; captureRadius = 10; duration = 119; initialDepth = 993.030472; finalDepth = 995.705701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.705701 # Seafloor depth:-1045.705701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.030472 meters looking forward 0.000000 meters along route # Maximum depth: 1043.030472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.030472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.817558; captureRadius = 10; duration = 119; initialDepth = 992.549248; finalDepth = 993.030472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.030472 # Seafloor depth:-1043.030472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1042.549248 meters looking forward 0.000000 meters along route # Maximum depth: 1042.549248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.549248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759899; longitude = -121.818267; captureRadius = 10; duration = 119; initialDepth = 997.513200; finalDepth = 992.549248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.549248 # Seafloor depth:-1042.549248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.513200 meters looking forward 0.000000 meters along route # Maximum depth: 1047.513200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.513200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.818885; captureRadius = 10; duration = 119; initialDepth = 998.852167; finalDepth = 997.513200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.5132 # Seafloor depth:-1047.513200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1048.852167 meters looking forward 0.000000 meters along route # Maximum depth: 1048.852167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.852167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.819548; captureRadius = 10; duration = 119; initialDepth = 997.593488; finalDepth = 998.852167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.852167 # Seafloor depth:-1048.852167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.593488 meters looking forward 0.000000 meters along route # Maximum depth: 1047.593488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.593488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.820211; captureRadius = 10; duration = 119; initialDepth = 990.841015; finalDepth = 997.593488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.593488 # Seafloor depth:-1047.593488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1040.841015 meters looking forward 0.000000 meters along route # Maximum depth: 1040.841015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.841015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.820874; captureRadius = 10; duration = 119; initialDepth = 993.459491; finalDepth = 990.841015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.841015 # Seafloor depth:-1040.841015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.459491 meters looking forward 0.000000 meters along route # Maximum depth: 1043.459491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.459491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755751; longitude = -121.821584; captureRadius = 10; duration = 119; initialDepth = 993.557480; finalDepth = 993.459491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.459491 # Seafloor depth:-1043.459491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.557480 meters looking forward 0.000000 meters along route # Maximum depth: 1043.557480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.557480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.822201; captureRadius = 10; duration = 119; initialDepth = 995.456530; finalDepth = 993.557480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.55748 # Seafloor depth:-1043.557480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.456530 meters looking forward 0.000000 meters along route # Maximum depth: 1045.456530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.456530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.822864; captureRadius = 10; duration = 119; initialDepth = 995.046813; finalDepth = 995.456530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.45653 # Seafloor depth:-1045.456530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.046813 meters looking forward 0.000000 meters along route # Maximum depth: 1045.046813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.046813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.823527; captureRadius = 10; duration = 119; initialDepth = 994.445446; finalDepth = 995.046813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.046813 # Seafloor depth:-1045.046813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1044.445446 meters looking forward 0.000000 meters along route # Maximum depth: 1044.445446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.445446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.824190; captureRadius = 10; duration = 119; initialDepth = 993.557613; finalDepth = 994.445446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.445446 # Seafloor depth:-1044.445446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1043.557613 meters looking forward 0.000000 meters along route # Maximum depth: 1043.557613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.557613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751604; longitude = -121.824901; captureRadius = 10; duration = 119; initialDepth = 995.677171; finalDepth = 993.557613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.557613 # Seafloor depth:-1043.557613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.677171 meters looking forward 0.000000 meters along route # Maximum depth: 1045.677171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.677171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.825517; captureRadius = 10; duration = 119; initialDepth = 995.443116; finalDepth = 995.677171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.677171 # Seafloor depth:-1045.677171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.443116 meters looking forward 0.000000 meters along route # Maximum depth: 1045.443116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.443116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.826180; captureRadius = 10; duration = 119; initialDepth = 1003.038857; finalDepth = 995.443116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.443116 # Seafloor depth:-1045.443116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1053.038857 meters looking forward 0.000000 meters along route # Maximum depth: 1053.038857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.038857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.826843; captureRadius = 10; duration = 119; initialDepth = 1003.227900; finalDepth = 1003.038857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.038857 # Seafloor depth:-1053.038857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1053.227900 meters looking forward 0.000000 meters along route # Maximum depth: 1053.227900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.227900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.827506; captureRadius = 10; duration = 119; initialDepth = 999.106811; finalDepth = 1003.227900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.2279 # Seafloor depth:-1053.227900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1049.106811 meters looking forward 0.000000 meters along route # Maximum depth: 1049.106811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.106811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747457; longitude = -121.828217; captureRadius = 10; duration = 119; initialDepth = 995.708072; finalDepth = 999.106811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.106811 # Seafloor depth:-1049.106811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.708072 meters looking forward 0.000000 meters along route # Maximum depth: 1045.708072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.708072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.828833; captureRadius = 10; duration = 119; initialDepth = 995.147177; finalDepth = 995.708072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.708072 # Seafloor depth:-1045.708072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1045.147177 meters looking forward 0.000000 meters along route # Maximum depth: 1045.147177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.147177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.829496; captureRadius = 10; duration = 119; initialDepth = 1000.143124; finalDepth = 995.147177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.147177 # Seafloor depth:-1045.147177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1050.143124 meters looking forward 0.000000 meters along route # Maximum depth: 1050.143124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.143124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.830159; captureRadius = 10; duration = 119; initialDepth = 999.822304; finalDepth = 1000.143124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.143124 # Seafloor depth:-1050.143124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1049.822304 meters looking forward 0.000000 meters along route # Maximum depth: 1049.822304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.822304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.830822; captureRadius = 10; duration = 119; initialDepth = 997.379071; finalDepth = 999.822304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.822304 # Seafloor depth:-1049.822304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.379071 meters looking forward 0.000000 meters along route # Maximum depth: 1047.379071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.379071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743310; longitude = -121.831534; captureRadius = 10; duration = 119; initialDepth = 1000.235084; finalDepth = 997.379071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.379071 # Seafloor depth:-1047.379071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1050.235084 meters looking forward 0.000000 meters along route # Maximum depth: 1050.235084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.235084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.832149; captureRadius = 10; duration = 119; initialDepth = 997.174047; finalDepth = 1000.235084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.235084 # Seafloor depth:-1050.235084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.174047 meters looking forward 0.000000 meters along route # Maximum depth: 1047.174047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.174047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.832812; captureRadius = 10; duration = 119; initialDepth = 999.678929; finalDepth = 997.174047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.174047 # Seafloor depth:-1047.174047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1049.678929 meters looking forward 0.000000 meters along route # Maximum depth: 1049.678929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.678929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.833475; captureRadius = 10; duration = 119; initialDepth = 997.908142; finalDepth = 999.678929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.678929 # Seafloor depth:-1049.678929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.608441 meters # Minimum depth: 1047.908142 meters looking forward 0.000000 meters along route # Maximum depth: 1047.908142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.908142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.834138; captureRadius = 10; duration = 119; initialDepth = 997.097443; finalDepth = 997.908142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.908142 # Seafloor depth:-1047.908142 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 119.608441 meters # Minimum depth: 1047.097443 meters looking forward 0.000000 meters along route # Maximum depth: 1047.097443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.097443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739177; longitude = -121.834840; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 997.394393; finalDepth = 997.097443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.097443 # Seafloor depth:-1047.097443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1047.394393 meters looking forward 0.000000 meters along route # Maximum depth: 1047.394393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.394393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.835246; captureRadius = 10; duration = 119; initialDepth = 996.158741; finalDepth = 997.394393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.394393 # Seafloor depth:-1047.394393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1046.158741 meters looking forward 0.000000 meters along route # Maximum depth: 1046.158741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.158741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737559; longitude = -121.835680; captureRadius = 10; duration = 119; initialDepth = 998.378010; finalDepth = 996.158741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.158741 # Seafloor depth:-1046.158741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1048.378010 meters looking forward 0.000000 meters along route # Maximum depth: 1048.378010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.378010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.836251; captureRadius = 10; duration = 119; initialDepth = 997.959794; finalDepth = 998.378010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.37801 # Seafloor depth:-1048.378010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1047.959794 meters looking forward 0.000000 meters along route # Maximum depth: 1047.959794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.959794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.836825; captureRadius = 10; duration = 119; initialDepth = 1001.922224; finalDepth = 997.959794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.959794 # Seafloor depth:-1047.959794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1051.922224 meters looking forward 0.000000 meters along route # Maximum depth: 1051.922224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.922224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734366; longitude = -121.837339; captureRadius = 10; duration = 119; initialDepth = 1000.678031; finalDepth = 1001.922224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.922224 # Seafloor depth:-1051.922224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.608441 meters # Minimum depth: 1050.678031 meters looking forward 0.000000 meters along route # Maximum depth: 1050.678031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.678031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.837830; captureRadius = 10; duration = 119; initialDepth = 1001.748749; finalDepth = 1000.678031; 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 # Actual altitude: 50 # Commanded vehicle depth:1000.678031 # Seafloor depth:-1050.678031 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 119.608441 meters # Minimum depth: 1051.748749 meters looking forward 0.000000 meters along route # Maximum depth: 1051.748749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.748749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732490; longitude = -121.838313; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1000.585572; finalDepth = 1001.748749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.748749 # Seafloor depth:-1051.748749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1050.585572 meters looking forward 0.000000 meters along route # Maximum depth: 1050.585572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.585572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.838460; captureRadius = 10; duration = 119; initialDepth = 999.869062; finalDepth = 1000.585572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.585572 # Seafloor depth:-1050.585572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1049.869062 meters looking forward 0.000000 meters along route # Maximum depth: 1049.869062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.869062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.839156; captureRadius = 10; duration = 119; initialDepth = 1000.628692; finalDepth = 999.869062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.869062 # Seafloor depth:-1049.869062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1050.628692 meters looking forward 0.000000 meters along route # Maximum depth: 1050.628692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.628692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.839853; captureRadius = 10; duration = 119; initialDepth = 1000.948823; finalDepth = 1000.628692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.628692 # Seafloor depth:-1050.628692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1050.948823 meters looking forward 0.000000 meters along route # Maximum depth: 1050.948823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.948823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.840549; captureRadius = 10; duration = 119; initialDepth = 1000.240379; finalDepth = 1000.948823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.948823 # Seafloor depth:-1050.948823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1050.240379 meters looking forward 0.000000 meters along route # Maximum depth: 1050.240379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.240379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.841246; captureRadius = 10; duration = 119; initialDepth = 1000.126742; finalDepth = 1000.240379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.240379 # Seafloor depth:-1050.240379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1050.126742 meters looking forward 0.000000 meters along route # Maximum depth: 1050.126742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.126742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.841942; captureRadius = 10; duration = 119; initialDepth = 997.764923; finalDepth = 1000.126742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.126742 # Seafloor depth:-1050.126742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1047.764923 meters looking forward 0.000000 meters along route # Maximum depth: 1047.764923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.764923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.842639; captureRadius = 10; duration = 119; initialDepth = 999.479026; finalDepth = 997.764923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.764923 # Seafloor depth:-1047.764923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1049.479026 meters looking forward 0.000000 meters along route # Maximum depth: 1049.479026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.479026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.843335; captureRadius = 10; duration = 119; initialDepth = 1003.471034; finalDepth = 999.479026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.479026 # Seafloor depth:-1049.479026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1053.471034 meters looking forward 0.000000 meters along route # Maximum depth: 1053.471034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.471034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.844031; captureRadius = 10; duration = 119; initialDepth = 1005.803743; finalDepth = 1003.471034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.471034 # Seafloor depth:-1053.471034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.608441 meters # Minimum depth: 1055.803743 meters looking forward 0.000000 meters along route # Maximum depth: 1055.803743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.803743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.844728; captureRadius = 10; duration = 119; initialDepth = 998.572723; finalDepth = 1005.803743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.803743 # Seafloor depth:-1055.803743 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 119.608441 meters # Minimum depth: 1048.572723 meters looking forward 0.000000 meters along route # Maximum depth: 1048.572723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.572723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724090; longitude = -121.845368; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 999.979687; finalDepth = 998.572723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.572723 # Seafloor depth:-1048.572723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.608441 meters # Minimum depth: 1049.979687 meters looking forward 0.000000 meters along route # Maximum depth: 1049.979687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.979687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.845464; captureRadius = 10; duration = 119; initialDepth = 1000.586792; finalDepth = 999.979687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.979687 # Seafloor depth:-1049.979687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.608441 meters # Minimum depth: 1050.586792 meters looking forward 0.000000 meters along route # Maximum depth: 1050.586792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.586792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.845974; captureRadius = 10; duration = 119; initialDepth = 996.899135; finalDepth = 1000.586792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.586792 # Seafloor depth:-1050.586792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.608441 meters # Minimum depth: 1046.899135 meters looking forward 0.000000 meters along route # Maximum depth: 1046.899135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.899135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726461; longitude = -121.846460; captureRadius = 10; duration = 119; initialDepth = 1002.033929; finalDepth = 996.899135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.899135 # Seafloor depth:-1046.899135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.608441 meters # Minimum depth: 1052.033929 meters looking forward 0.000000 meters along route # Maximum depth: 1052.033929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.033929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.846865; captureRadius = 10; duration = 119; initialDepth = 1002.787750; finalDepth = 1002.033929; 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 # Actual altitude: 50 # Commanded vehicle depth:1002.033929 # Seafloor depth:-1052.033929 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 119.608441 meters # Minimum depth: 1052.787750 meters looking forward 0.000000 meters along route # Maximum depth: 1052.787750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.787750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728284; longitude = -121.847300; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1002.292663; finalDepth = 1002.787750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.78775 # Seafloor depth:-1052.787750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1052.292663 meters looking forward 0.000000 meters along route # Maximum depth: 1052.292663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.292663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.846950; captureRadius = 10; duration = 119; initialDepth = 1001.732451; finalDepth = 1002.292663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.292663 # Seafloor depth:-1052.292663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.732451 meters looking forward 0.000000 meters along route # Maximum depth: 1051.732451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.732451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.846287; captureRadius = 10; duration = 119; initialDepth = 1004.502799; finalDepth = 1001.732451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.732451 # Seafloor depth:-1051.732451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1054.502799 meters looking forward 0.000000 meters along route # Maximum depth: 1054.502799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.502799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.845624; captureRadius = 10; duration = 119; initialDepth = 1003.942632; finalDepth = 1004.502799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.502799 # Seafloor depth:-1054.502799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1053.942632 meters looking forward 0.000000 meters along route # Maximum depth: 1053.942632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.942632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.844961; captureRadius = 10; duration = 119; initialDepth = 1003.041179; finalDepth = 1003.942632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.942632 # Seafloor depth:-1053.942632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1053.041179 meters looking forward 0.000000 meters along route # Maximum depth: 1053.041179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.041179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732101; longitude = -121.844249; captureRadius = 10; duration = 119; initialDepth = 1003.314712; finalDepth = 1003.041179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.041179 # Seafloor depth:-1053.041179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1053.314712 meters looking forward 0.000000 meters along route # Maximum depth: 1053.314712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.314712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.843636; captureRadius = 10; duration = 119; initialDepth = 1005.001782; finalDepth = 1003.314712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.314712 # Seafloor depth:-1053.314712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1055.001782 meters looking forward 0.000000 meters along route # Maximum depth: 1055.001782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.001782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.842973; captureRadius = 10; duration = 119; initialDepth = 1002.531856; finalDepth = 1005.001782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.001782 # Seafloor depth:-1055.001782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1052.531856 meters looking forward 0.000000 meters along route # Maximum depth: 1052.531856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.531856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.842310; captureRadius = 10; duration = 119; initialDepth = 1000.479328; finalDepth = 1002.531856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.531856 # Seafloor depth:-1052.531856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1050.479328 meters looking forward 0.000000 meters along route # Maximum depth: 1050.479328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.479328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.841647; captureRadius = 10; duration = 119; initialDepth = 1001.801409; finalDepth = 1000.479328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.479328 # Seafloor depth:-1050.479328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.801409 meters looking forward 0.000000 meters along route # Maximum depth: 1051.801409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.801409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736250; longitude = -121.840932; captureRadius = 10; duration = 119; initialDepth = 1000.910632; finalDepth = 1001.801409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.801409 # Seafloor depth:-1051.801409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1050.910632 meters looking forward 0.000000 meters along route # Maximum depth: 1050.910632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.910632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.840321; captureRadius = 10; duration = 119; initialDepth = 1003.420642; finalDepth = 1000.910632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.910632 # Seafloor depth:-1050.910632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1053.420642 meters looking forward 0.000000 meters along route # Maximum depth: 1053.420642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.420642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.839658; captureRadius = 10; duration = 119; initialDepth = 999.745296; finalDepth = 1003.420642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.420642 # Seafloor depth:-1053.420642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.745296 meters looking forward 0.000000 meters along route # Maximum depth: 1049.745296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.745296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.838995; captureRadius = 10; duration = 119; initialDepth = 1001.124267; finalDepth = 999.745296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.745296 # Seafloor depth:-1049.745296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.124267 meters looking forward 0.000000 meters along route # Maximum depth: 1051.124267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.124267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.838333; captureRadius = 10; duration = 119; initialDepth = 999.453715; finalDepth = 1001.124267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.124267 # Seafloor depth:-1051.124267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.453715 meters looking forward 0.000000 meters along route # Maximum depth: 1049.453715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.453715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740399; longitude = -121.837615; captureRadius = 10; duration = 119; initialDepth = 1003.023142; finalDepth = 999.453715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.453715 # Seafloor depth:-1049.453715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1053.023142 meters looking forward 0.000000 meters along route # Maximum depth: 1053.023142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.023142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.837007; captureRadius = 10; duration = 119; initialDepth = 998.871826; finalDepth = 1003.023142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.023142 # Seafloor depth:-1053.023142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.871826 meters looking forward 0.000000 meters along route # Maximum depth: 1048.871826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.871826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.836344; captureRadius = 10; duration = 119; initialDepth = 999.721834; finalDepth = 998.871826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.871826 # Seafloor depth:-1048.871826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.721834 meters looking forward 0.000000 meters along route # Maximum depth: 1049.721834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.721834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742819; longitude = -121.835680; captureRadius = 10; duration = 119; initialDepth = 999.844116; finalDepth = 999.721834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.721834 # Seafloor depth:-1049.721834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.844116 meters looking forward 0.000000 meters along route # Maximum depth: 1049.844116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.844116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.835018; captureRadius = 10; duration = 119; initialDepth = 998.829935; finalDepth = 999.844116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.844116 # Seafloor depth:-1049.844116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.829935 meters looking forward 0.000000 meters along route # Maximum depth: 1048.829935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.829935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744548; longitude = -121.834298; captureRadius = 10; duration = 119; initialDepth = 999.058552; finalDepth = 998.829935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.829935 # Seafloor depth:-1048.829935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.058552 meters looking forward 0.000000 meters along route # Maximum depth: 1049.058552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.058552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.833692; captureRadius = 10; duration = 119; initialDepth = 1004.254444; finalDepth = 999.058552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.058552 # Seafloor depth:-1049.058552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1054.254444 meters looking forward 0.000000 meters along route # Maximum depth: 1054.254444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.254444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.833030; captureRadius = 10; duration = 119; initialDepth = 1002.001438; finalDepth = 1004.254444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.254444 # Seafloor depth:-1054.254444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1052.001438 meters looking forward 0.000000 meters along route # Maximum depth: 1052.001438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.001438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746968; longitude = -121.832363; captureRadius = 10; duration = 119; initialDepth = 994.034316; finalDepth = 1002.001438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.001438 # Seafloor depth:-1052.001438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1044.034316 meters looking forward 0.000000 meters along route # Maximum depth: 1044.034316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.034316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.831704; captureRadius = 10; duration = 119; initialDepth = 996.795689; finalDepth = 994.034316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.034316 # Seafloor depth:-1044.034316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.795689 meters looking forward 0.000000 meters along route # Maximum depth: 1046.795689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.795689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.831041; captureRadius = 10; duration = 119; initialDepth = 1005.099309; finalDepth = 996.795689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.795689 # Seafloor depth:-1046.795689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1055.099309 meters looking forward 0.000000 meters along route # Maximum depth: 1055.099309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.099309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.830378; captureRadius = 10; duration = 119; initialDepth = 1004.920220; finalDepth = 1005.099309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.099309 # Seafloor depth:-1055.099309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1054.920220 meters looking forward 0.000000 meters along route # Maximum depth: 1054.920220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.920220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.829715; captureRadius = 10; duration = 119; initialDepth = 996.344926; finalDepth = 1004.920220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.92022 # Seafloor depth:-1054.920220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.344926 meters looking forward 0.000000 meters along route # Maximum depth: 1046.344926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.344926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751117; longitude = -121.829047; captureRadius = 10; duration = 119; initialDepth = 996.323337; finalDepth = 996.344926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.344926 # Seafloor depth:-1046.344926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.323337 meters looking forward 0.000000 meters along route # Maximum depth: 1046.323337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.323337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.828389; captureRadius = 10; duration = 119; initialDepth = 997.976973; finalDepth = 996.323337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.323337 # Seafloor depth:-1046.323337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1047.976973 meters looking forward 0.000000 meters along route # Maximum depth: 1047.976973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.976973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.827726; captureRadius = 10; duration = 119; initialDepth = 996.081815; finalDepth = 997.976973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.976973 # Seafloor depth:-1047.976973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.081815 meters looking forward 0.000000 meters along route # Maximum depth: 1046.081815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.081815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.827064; captureRadius = 10; duration = 119; initialDepth = 999.996123; finalDepth = 996.081815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.081815 # Seafloor depth:-1046.081815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.996123 meters looking forward 0.000000 meters along route # Maximum depth: 1049.996123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.996123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.826401; captureRadius = 10; duration = 119; initialDepth = 998.263638; finalDepth = 999.996123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.996123 # Seafloor depth:-1049.996123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.263638 meters looking forward 0.000000 meters along route # Maximum depth: 1048.263638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.263638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755266; longitude = -121.825730; captureRadius = 10; duration = 119; initialDepth = 997.493836; finalDepth = 998.263638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.263638 # Seafloor depth:-1048.263638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1047.493836 meters looking forward 0.000000 meters along route # Maximum depth: 1047.493836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.493836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.825075; captureRadius = 10; duration = 119; initialDepth = 996.338945; finalDepth = 997.493836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.493836 # Seafloor depth:-1047.493836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.338945 meters looking forward 0.000000 meters along route # Maximum depth: 1046.338945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.338945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.824412; captureRadius = 10; duration = 119; initialDepth = 998.985283; finalDepth = 996.338945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.338945 # Seafloor depth:-1046.338945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.985283 meters looking forward 0.000000 meters along route # Maximum depth: 1048.985283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.985283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.823749; captureRadius = 10; duration = 119; initialDepth = 998.803073; finalDepth = 998.985283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.985283 # Seafloor depth:-1048.985283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.803073 meters looking forward 0.000000 meters along route # Maximum depth: 1048.803073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.803073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.823086; captureRadius = 10; duration = 119; initialDepth = 996.993648; finalDepth = 998.803073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.803073 # Seafloor depth:-1048.803073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.993648 meters looking forward 0.000000 meters along route # Maximum depth: 1046.993648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.993648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759416; longitude = -121.822413; captureRadius = 10; duration = 119; initialDepth = 1000.402304; finalDepth = 996.993648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.993648 # Seafloor depth:-1046.993648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1050.402304 meters looking forward 0.000000 meters along route # Maximum depth: 1050.402304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.402304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.821760; captureRadius = 10; duration = 119; initialDepth = 1001.887531; finalDepth = 1000.402304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.402304 # Seafloor depth:-1050.402304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.887531 meters looking forward 0.000000 meters along route # Maximum depth: 1051.887531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.887531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.821098; captureRadius = 10; duration = 119; initialDepth = 999.604099; finalDepth = 1001.887531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.887531 # Seafloor depth:-1051.887531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.604099 meters looking forward 0.000000 meters along route # Maximum depth: 1049.604099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.604099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.820435; captureRadius = 10; duration = 119; initialDepth = 999.249490; finalDepth = 999.604099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.604099 # Seafloor depth:-1049.604099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.249490 meters looking forward 0.000000 meters along route # Maximum depth: 1049.249490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.249490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.819772; captureRadius = 10; duration = 119; initialDepth = 998.733936; finalDepth = 999.249490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.24949 # Seafloor depth:-1049.249490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.733936 meters looking forward 0.000000 meters along route # Maximum depth: 1048.733936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.733936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763565; longitude = -121.819096; captureRadius = 10; duration = 119; initialDepth = 998.879380; finalDepth = 998.733936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.733936 # Seafloor depth:-1048.733936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.879380 meters looking forward 0.000000 meters along route # Maximum depth: 1048.879380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.879380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.818446; captureRadius = 10; duration = 119; initialDepth = 1000.643699; finalDepth = 998.879380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.87938 # Seafloor depth:-1048.879380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1050.643699 meters looking forward 0.000000 meters along route # Maximum depth: 1050.643699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.643699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.817783; captureRadius = 10; duration = 119; initialDepth = 998.294512; finalDepth = 1000.643699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.643699 # Seafloor depth:-1050.643699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.294512 meters looking forward 0.000000 meters along route # Maximum depth: 1048.294512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.294512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.817120; captureRadius = 10; duration = 119; initialDepth = 999.789436; finalDepth = 998.294512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.294512 # Seafloor depth:-1048.294512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.789436 meters looking forward 0.000000 meters along route # Maximum depth: 1049.789436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.789436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.816457; captureRadius = 10; duration = 119; initialDepth = 1001.503061; finalDepth = 999.789436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.789436 # Seafloor depth:-1049.789436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.503061 meters looking forward 0.000000 meters along route # Maximum depth: 1051.503061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.503061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767714; longitude = -121.815779; captureRadius = 10; duration = 119; initialDepth = 1004.120322; finalDepth = 1001.503061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.503061 # Seafloor depth:-1051.503061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1054.120322 meters looking forward 0.000000 meters along route # Maximum depth: 1054.120322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.120322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.815132; captureRadius = 10; duration = 119; initialDepth = 999.340159; finalDepth = 1004.120322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.120322 # Seafloor depth:-1054.120322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.340159 meters looking forward 0.000000 meters along route # Maximum depth: 1049.340159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.340159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.814469; captureRadius = 10; duration = 119; initialDepth = 998.063452; finalDepth = 999.340159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.340159 # Seafloor depth:-1049.340159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1048.063452 meters looking forward 0.000000 meters along route # Maximum depth: 1048.063452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.063452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.813806; captureRadius = 10; duration = 119; initialDepth = 995.924625; finalDepth = 998.063452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.063452 # Seafloor depth:-1048.063452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1045.924625 meters looking forward 0.000000 meters along route # Maximum depth: 1045.924625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.924625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.813143; captureRadius = 10; duration = 119; initialDepth = 999.993932; finalDepth = 995.924625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.924625 # Seafloor depth:-1045.924625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.993932 meters looking forward 0.000000 meters along route # Maximum depth: 1049.993932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.993932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771863; longitude = -121.812462; captureRadius = 10; duration = 119; initialDepth = 1000.504699; finalDepth = 999.993932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.993932 # Seafloor depth:-1049.993932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1050.504699 meters looking forward 0.000000 meters along route # Maximum depth: 1050.504699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.504699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.811817; captureRadius = 10; duration = 119; initialDepth = 999.796602; finalDepth = 1000.504699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.504699 # Seafloor depth:-1050.504699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1049.796602 meters looking forward 0.000000 meters along route # Maximum depth: 1049.796602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.796602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.811154; captureRadius = 10; duration = 119; initialDepth = 1001.009126; finalDepth = 999.796602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.796602 # Seafloor depth:-1049.796602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.009126 meters looking forward 0.000000 meters along route # Maximum depth: 1051.009126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.009126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.810491; captureRadius = 10; duration = 119; initialDepth = 1001.225096; finalDepth = 1001.009126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.009126 # Seafloor depth:-1051.009126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1051.225096 meters looking forward 0.000000 meters along route # Maximum depth: 1051.225096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.225096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.809829; captureRadius = 10; duration = 119; initialDepth = 993.759244; finalDepth = 1001.225096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.225096 # Seafloor depth:-1051.225096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1043.759244 meters looking forward 0.000000 meters along route # Maximum depth: 1043.759244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.759244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776012; longitude = -121.809146; captureRadius = 10; duration = 119; initialDepth = 995.115596; finalDepth = 993.759244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.759244 # Seafloor depth:-1043.759244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1045.115596 meters looking forward 0.000000 meters along route # Maximum depth: 1045.115596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.115596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.808503; captureRadius = 10; duration = 119; initialDepth = 996.526989; finalDepth = 995.115596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.115596 # Seafloor depth:-1045.115596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.526989 meters looking forward 0.000000 meters along route # Maximum depth: 1046.526989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.526989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.807840; captureRadius = 10; duration = 119; initialDepth = 992.198848; finalDepth = 996.526989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.526989 # Seafloor depth:-1046.526989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1042.198848 meters looking forward 0.000000 meters along route # Maximum depth: 1042.198848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.198848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.807177; captureRadius = 10; duration = 119; initialDepth = 996.862657; finalDepth = 992.198848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.198848 # Seafloor depth:-1042.198848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.862657 meters looking forward 0.000000 meters along route # Maximum depth: 1046.862657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.862657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.806514; captureRadius = 10; duration = 119; initialDepth = 995.936902; finalDepth = 996.862657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.862657 # Seafloor depth:-1046.862657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1045.936902 meters looking forward 0.000000 meters along route # Maximum depth: 1045.936902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.936902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780161; longitude = -121.805829; captureRadius = 10; duration = 119; initialDepth = 994.200009; finalDepth = 995.936902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.936902 # Seafloor depth:-1045.936902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1044.200009 meters looking forward 0.000000 meters along route # Maximum depth: 1044.200009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.200009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.805188; captureRadius = 10; duration = 119; initialDepth = 996.911216; finalDepth = 994.200009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.200009 # Seafloor depth:-1044.200009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1046.911216 meters looking forward 0.000000 meters along route # Maximum depth: 1046.911216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.911216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.804526; captureRadius = 10; duration = 119; initialDepth = 991.148378; finalDepth = 996.911216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.911216 # Seafloor depth:-1046.911216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1041.148378 meters looking forward 0.000000 meters along route # Maximum depth: 1041.148378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.148378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.803863; captureRadius = 10; duration = 119; initialDepth = 993.413870; finalDepth = 991.148378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.148378 # Seafloor depth:-1041.148378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1043.413870 meters looking forward 0.000000 meters along route # Maximum depth: 1043.413870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.413870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.803200; captureRadius = 10; duration = 119; initialDepth = 995.850808; finalDepth = 993.413870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.41387 # Seafloor depth:-1043.413870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1045.850808 meters looking forward 0.000000 meters along route # Maximum depth: 1045.850808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.850808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784310; longitude = -121.802512; captureRadius = 10; duration = 119; initialDepth = 990.575684; finalDepth = 995.850808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.850808 # Seafloor depth:-1045.850808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1040.575684 meters looking forward 0.000000 meters along route # Maximum depth: 1040.575684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.575684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.801874; captureRadius = 10; duration = 119; initialDepth = 989.843564; finalDepth = 990.575684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.575684 # Seafloor depth:-1040.575684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1039.843564 meters looking forward 0.000000 meters along route # Maximum depth: 1039.843564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.843564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.801211; captureRadius = 10; duration = 119; initialDepth = 991.954225; finalDepth = 989.843564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.843564 # Seafloor depth:-1039.843564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1041.954225 meters looking forward 0.000000 meters along route # Maximum depth: 1041.954225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.954225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.800548; captureRadius = 10; duration = 119; initialDepth = 987.359975; finalDepth = 991.954225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.954225 # Seafloor depth:-1041.954225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1037.359975 meters looking forward 0.000000 meters along route # Maximum depth: 1037.359975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.359975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.799885; captureRadius = 10; duration = 119; initialDepth = 987.726170; finalDepth = 987.359975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.359975 # Seafloor depth:-1037.359975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1037.726170 meters looking forward 0.000000 meters along route # Maximum depth: 1037.726170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.726170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788459; longitude = -121.799195; captureRadius = 10; duration = 119; initialDepth = 988.227853; finalDepth = 987.726170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.72617 # Seafloor depth:-1037.726170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.608441 meters # Minimum depth: 1038.227853 meters looking forward 0.000000 meters along route # Maximum depth: 1038.227853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.227853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.798560; captureRadius = 10; duration = 119; initialDepth = 996.027191; finalDepth = 988.227853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.227853 # Seafloor depth:-1038.227853 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 119.608441 meters # Minimum depth: 1046.027191 meters looking forward 0.000000 meters along route # Maximum depth: 1046.027191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.027191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790093; longitude = -121.797889; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 991.133981; finalDepth = 996.027191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.027191 # Seafloor depth:-1046.027191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.608441 meters # Minimum depth: 1041.133981 meters looking forward 0.000000 meters along route # Maximum depth: 1041.133981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.133981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790502; longitude = -121.798642; captureRadius = 10; duration = 119; initialDepth = 990.033104; finalDepth = 991.133981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.133981 # Seafloor depth:-1041.133981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.608441 meters # Minimum depth: 1040.033104 meters looking forward 0.000000 meters along route # Maximum depth: 1040.033104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.033104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791103; longitude = -121.799748; captureRadius = 10; duration = 119; initialDepth = 992.161560; finalDepth = 990.033104; 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 # Actual altitude: 50 # Commanded vehicle depth:990.033104 # Seafloor depth:-1040.033104 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 119.608441 meters # Minimum depth: 1042.161560 meters looking forward 0.000000 meters along route # Maximum depth: 1042.161560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.161560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791608; longitude = -121.800676; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 992.036841; finalDepth = 992.161560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.16156 # Seafloor depth:-1042.161560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1042.036841 meters looking forward 0.000000 meters along route # Maximum depth: 1042.036841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.036841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.801010; captureRadius = 10; duration = 119; initialDepth = 991.757708; finalDepth = 992.036841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.036841 # Seafloor depth:-1042.036841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1041.757708 meters looking forward 0.000000 meters along route # Maximum depth: 1041.757708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.757708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790344; longitude = -121.801683; captureRadius = 10; duration = 119; initialDepth = 991.903774; finalDepth = 991.757708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.757708 # Seafloor depth:-1041.757708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1041.903774 meters looking forward 0.000000 meters along route # Maximum depth: 1041.903774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.903774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.802330; captureRadius = 10; duration = 119; initialDepth = 991.526610; finalDepth = 991.903774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.903774 # Seafloor depth:-1041.903774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1041.526610 meters looking forward 0.000000 meters along route # Maximum depth: 1041.526610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.526610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.802990; captureRadius = 10; duration = 119; initialDepth = 993.087466; finalDepth = 991.526610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.52661 # Seafloor depth:-1041.526610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1043.087466 meters looking forward 0.000000 meters along route # Maximum depth: 1043.087466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.087466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.803650; captureRadius = 10; duration = 119; initialDepth = 993.844818; finalDepth = 993.087466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.087466 # Seafloor depth:-1043.087466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1043.844818 meters looking forward 0.000000 meters along route # Maximum depth: 1043.844818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.844818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.804310; captureRadius = 10; duration = 119; initialDepth = 996.525959; finalDepth = 993.844818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.844818 # Seafloor depth:-1043.844818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1046.525959 meters looking forward 0.000000 meters along route # Maximum depth: 1046.525959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.525959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786177; longitude = -121.805000; captureRadius = 10; duration = 119; initialDepth = 997.232072; finalDepth = 996.525959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.525959 # Seafloor depth:-1046.525959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1047.232072 meters looking forward 0.000000 meters along route # Maximum depth: 1047.232072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.232072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.805631; captureRadius = 10; duration = 119; initialDepth = 1001.522042; finalDepth = 997.232072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.232072 # Seafloor depth:-1047.232072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1051.522042 meters looking forward 0.000000 meters along route # Maximum depth: 1051.522042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.522042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.806291; captureRadius = 10; duration = 119; initialDepth = 997.238611; finalDepth = 1001.522042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.522042 # Seafloor depth:-1051.522042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1047.238611 meters looking forward 0.000000 meters along route # Maximum depth: 1047.238611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.238611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.806951; captureRadius = 10; duration = 119; initialDepth = 999.481918; finalDepth = 997.238611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.238611 # Seafloor depth:-1047.238611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1049.481918 meters looking forward 0.000000 meters along route # Maximum depth: 1049.481918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.481918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.807611; captureRadius = 10; duration = 119; initialDepth = 1000.837776; finalDepth = 999.481918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.481918 # Seafloor depth:-1049.481918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1050.837776 meters looking forward 0.000000 meters along route # Maximum depth: 1050.837776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.837776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782011; longitude = -121.808316; captureRadius = 10; duration = 119; initialDepth = 999.960851; finalDepth = 1000.837776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.837776 # Seafloor depth:-1050.837776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1049.960851 meters looking forward 0.000000 meters along route # Maximum depth: 1049.960851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.960851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.808931; captureRadius = 10; duration = 119; initialDepth = 1002.928841; finalDepth = 999.960851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.960851 # Seafloor depth:-1049.960851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.928841 meters looking forward 0.000000 meters along route # Maximum depth: 1052.928841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.928841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.809591; captureRadius = 10; duration = 119; initialDepth = 1001.910176; finalDepth = 1002.928841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.928841 # Seafloor depth:-1052.928841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1051.910176 meters looking forward 0.000000 meters along route # Maximum depth: 1051.910176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.910176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.810252; captureRadius = 10; duration = 119; initialDepth = 999.736297; finalDepth = 1001.910176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.910176 # Seafloor depth:-1051.910176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1049.736297 meters looking forward 0.000000 meters along route # Maximum depth: 1049.736297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.736297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.810912; captureRadius = 10; duration = 119; initialDepth = 1000.015923; finalDepth = 999.736297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.736297 # Seafloor depth:-1049.736297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1050.015923 meters looking forward 0.000000 meters along route # Maximum depth: 1050.015923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.015923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.811572; captureRadius = 10; duration = 119; initialDepth = 1001.979486; finalDepth = 1000.015923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.015923 # Seafloor depth:-1050.015923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1051.979486 meters looking forward 0.000000 meters along route # Maximum depth: 1051.979486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.979486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.812232; captureRadius = 10; duration = 119; initialDepth = 1005.720443; finalDepth = 1001.979486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.979486 # Seafloor depth:-1051.979486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.720443 meters looking forward 0.000000 meters along route # Maximum depth: 1055.720443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.720443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.812892; captureRadius = 10; duration = 119; initialDepth = 1005.493084; finalDepth = 1005.720443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.720443 # Seafloor depth:-1055.720443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.493084 meters looking forward 0.000000 meters along route # Maximum depth: 1055.493084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.493084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775414; longitude = -121.813568; captureRadius = 10; duration = 119; initialDepth = 1003.091554; finalDepth = 1005.493084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.493084 # Seafloor depth:-1055.493084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.091554 meters looking forward 0.000000 meters along route # Maximum depth: 1053.091554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.091554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.814212; captureRadius = 10; duration = 119; initialDepth = 1007.182453; finalDepth = 1003.091554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.091554 # Seafloor depth:-1053.091554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1057.182453 meters looking forward 0.000000 meters along route # Maximum depth: 1057.182453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.182453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.814873; captureRadius = 10; duration = 119; initialDepth = 1002.824977; finalDepth = 1007.182453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.182453 # Seafloor depth:-1057.182453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.824977 meters looking forward 0.000000 meters along route # Maximum depth: 1052.824977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.824977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.815533; captureRadius = 10; duration = 119; initialDepth = 1003.939342; finalDepth = 1002.824977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.824977 # Seafloor depth:-1052.824977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.939342 meters looking forward 0.000000 meters along route # Maximum depth: 1053.939342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.939342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.816193; captureRadius = 10; duration = 119; initialDepth = 1002.955293; finalDepth = 1003.939342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.939342 # Seafloor depth:-1053.939342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.955293 meters looking forward 0.000000 meters along route # Maximum depth: 1052.955293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.955293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771248; longitude = -121.816885; captureRadius = 10; duration = 119; initialDepth = 1002.809701; finalDepth = 1002.955293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.955293 # Seafloor depth:-1052.955293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.809701 meters looking forward 0.000000 meters along route # Maximum depth: 1052.809701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.809701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.817513; captureRadius = 10; duration = 119; initialDepth = 1002.946836; finalDepth = 1002.809701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.809701 # Seafloor depth:-1052.809701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.946836 meters looking forward 0.000000 meters along route # Maximum depth: 1052.946836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.946836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.818173; captureRadius = 10; duration = 119; initialDepth = 1003.877837; finalDepth = 1002.946836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.946836 # Seafloor depth:-1052.946836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.877837 meters looking forward 0.000000 meters along route # Maximum depth: 1053.877837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.877837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.818833; captureRadius = 10; duration = 119; initialDepth = 1002.434333; finalDepth = 1003.877837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.877837 # Seafloor depth:-1053.877837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.434333 meters looking forward 0.000000 meters along route # Maximum depth: 1052.434333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.434333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.819494; captureRadius = 10; duration = 119; initialDepth = 1001.938939; finalDepth = 1002.434333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.434333 # Seafloor depth:-1052.434333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1051.938939 meters looking forward 0.000000 meters along route # Maximum depth: 1051.938939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.938939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767081; longitude = -121.820202; captureRadius = 10; duration = 119; initialDepth = 1000.537286; finalDepth = 1001.938939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.938939 # Seafloor depth:-1051.938939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1050.537286 meters looking forward 0.000000 meters along route # Maximum depth: 1050.537286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.537286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.820814; captureRadius = 10; duration = 119; initialDepth = 1005.849973; finalDepth = 1000.537286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.537286 # Seafloor depth:-1050.537286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.849973 meters looking forward 0.000000 meters along route # Maximum depth: 1055.849973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.849973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.821474; captureRadius = 10; duration = 119; initialDepth = 1005.880902; finalDepth = 1005.849973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.849973 # Seafloor depth:-1055.849973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.880902 meters looking forward 0.000000 meters along route # Maximum depth: 1055.880902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.880902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764651; longitude = -121.822137; captureRadius = 10; duration = 119; initialDepth = 1004.850374; finalDepth = 1005.880902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.880902 # Seafloor depth:-1055.880902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.850374 meters looking forward 0.000000 meters along route # Maximum depth: 1054.850374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.850374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.822794; captureRadius = 10; duration = 119; initialDepth = 1006.521369; finalDepth = 1004.850374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.850374 # Seafloor depth:-1054.850374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1056.521369 meters looking forward 0.000000 meters along route # Maximum depth: 1056.521369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.521369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.823454; captureRadius = 10; duration = 119; initialDepth = 1010.533279; finalDepth = 1006.521369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.521369 # Seafloor depth:-1056.521369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1060.533279 meters looking forward 0.000000 meters along route # Maximum depth: 1060.533279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.533279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.824114; captureRadius = 10; duration = 119; initialDepth = 1003.950032; finalDepth = 1010.533279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.533279 # Seafloor depth:-1060.533279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.950032 meters looking forward 0.000000 meters along route # Maximum depth: 1053.950032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.950032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.824775; captureRadius = 10; duration = 119; initialDepth = 1005.593720; finalDepth = 1003.950032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.950032 # Seafloor depth:-1053.950032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.593720 meters looking forward 0.000000 meters along route # Maximum depth: 1055.593720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.593720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760485; longitude = -121.825453; captureRadius = 10; duration = 119; initialDepth = 1002.321554; finalDepth = 1005.593720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.59372 # Seafloor depth:-1055.593720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.321554 meters looking forward 0.000000 meters along route # Maximum depth: 1052.321554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.321554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.826095; captureRadius = 10; duration = 119; initialDepth = 1004.502155; finalDepth = 1002.321554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.321554 # Seafloor depth:-1052.321554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.502155 meters looking forward 0.000000 meters along route # Maximum depth: 1054.502155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.502155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.826755; captureRadius = 10; duration = 119; initialDepth = 1002.865143; finalDepth = 1004.502155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.502155 # Seafloor depth:-1054.502155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.865143 meters looking forward 0.000000 meters along route # Maximum depth: 1052.865143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.865143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.827415; captureRadius = 10; duration = 119; initialDepth = 1002.490064; finalDepth = 1002.865143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.865143 # Seafloor depth:-1052.865143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.490064 meters looking forward 0.000000 meters along route # Maximum depth: 1052.490064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.490064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.828075; captureRadius = 10; duration = 119; initialDepth = 1003.639399; finalDepth = 1002.490064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.490064 # Seafloor depth:-1052.490064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.639399 meters looking forward 0.000000 meters along route # Maximum depth: 1053.639399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.639399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756318; longitude = -121.828770; captureRadius = 10; duration = 119; initialDepth = 1003.421158; finalDepth = 1003.639399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.639399 # Seafloor depth:-1053.639399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.421158 meters looking forward 0.000000 meters along route # Maximum depth: 1053.421158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.421158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.829396; captureRadius = 10; duration = 119; initialDepth = 1003.255669; finalDepth = 1003.421158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.421158 # Seafloor depth:-1053.421158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.255669 meters looking forward 0.000000 meters along route # Maximum depth: 1053.255669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.255669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.830056; captureRadius = 10; duration = 119; initialDepth = 1000.508217; finalDepth = 1003.255669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.255669 # Seafloor depth:-1053.255669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1050.508217 meters looking forward 0.000000 meters along route # Maximum depth: 1050.508217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.508217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.830716; captureRadius = 10; duration = 119; initialDepth = 1002.318936; finalDepth = 1000.508217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.508217 # Seafloor depth:-1050.508217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.318936 meters looking forward 0.000000 meters along route # Maximum depth: 1052.318936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.318936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.831376; captureRadius = 10; duration = 119; initialDepth = 1002.288533; finalDepth = 1002.318936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.318936 # Seafloor depth:-1052.318936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1052.288533 meters looking forward 0.000000 meters along route # Maximum depth: 1052.288533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.288533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752152; longitude = -121.832087; captureRadius = 10; duration = 119; initialDepth = 1003.264083; finalDepth = 1002.288533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.288533 # Seafloor depth:-1052.288533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.264083 meters looking forward 0.000000 meters along route # Maximum depth: 1053.264083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.264083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.832696; captureRadius = 10; duration = 119; initialDepth = 1012.368463; finalDepth = 1003.264083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.264083 # Seafloor depth:-1053.264083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1062.368463 meters looking forward 0.000000 meters along route # Maximum depth: 1062.368463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.368463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.833356; captureRadius = 10; duration = 119; initialDepth = 1003.128296; finalDepth = 1012.368463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.368463 # Seafloor depth:-1062.368463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.128296 meters looking forward 0.000000 meters along route # Maximum depth: 1053.128296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.128296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749722; longitude = -121.834022; captureRadius = 10; duration = 119; initialDepth = 1001.995931; finalDepth = 1003.128296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.128296 # Seafloor depth:-1053.128296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1051.995931 meters looking forward 0.000000 meters along route # Maximum depth: 1051.995931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.995931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.834677; captureRadius = 10; duration = 119; initialDepth = 1005.475318; finalDepth = 1001.995931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.995931 # Seafloor depth:-1051.995931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.475318 meters looking forward 0.000000 meters along route # Maximum depth: 1055.475318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.475318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.835337; captureRadius = 10; duration = 119; initialDepth = 1011.007753; finalDepth = 1005.475318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.475318 # Seafloor depth:-1055.475318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1061.007753 meters looking forward 0.000000 meters along route # Maximum depth: 1061.007753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.007753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.835997; captureRadius = 10; duration = 119; initialDepth = 1004.057606; finalDepth = 1011.007753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.007753 # Seafloor depth:-1061.007753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.057606 meters looking forward 0.000000 meters along route # Maximum depth: 1054.057606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.057606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.836657; captureRadius = 10; duration = 119; initialDepth = 1004.768275; finalDepth = 1004.057606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.057606 # Seafloor depth:-1054.057606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.768275 meters looking forward 0.000000 meters along route # Maximum depth: 1054.768275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.768275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745555; longitude = -121.837339; captureRadius = 10; duration = 119; initialDepth = 1005.177789; finalDepth = 1004.768275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.768275 # Seafloor depth:-1054.768275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.177789 meters looking forward 0.000000 meters along route # Maximum depth: 1055.177789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.177789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.837977; captureRadius = 10; duration = 119; initialDepth = 1006.342388; finalDepth = 1005.177789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.177789 # Seafloor depth:-1055.177789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1056.342388 meters looking forward 0.000000 meters along route # Maximum depth: 1056.342388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.342388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.838638; captureRadius = 10; duration = 119; initialDepth = 1005.647985; finalDepth = 1006.342388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.342388 # Seafloor depth:-1056.342388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.647985 meters looking forward 0.000000 meters along route # Maximum depth: 1055.647985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.647985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.839298; captureRadius = 10; duration = 119; initialDepth = 1007.015542; finalDepth = 1005.647985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.647985 # Seafloor depth:-1055.647985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1057.015542 meters looking forward 0.000000 meters along route # Maximum depth: 1057.015542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.015542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.839958; captureRadius = 10; duration = 119; initialDepth = 1004.771184; finalDepth = 1007.015542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.015542 # Seafloor depth:-1057.015542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.771184 meters looking forward 0.000000 meters along route # Maximum depth: 1054.771184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.771184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741389; longitude = -121.840656; captureRadius = 10; duration = 119; initialDepth = 1004.580317; finalDepth = 1004.771184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.771184 # Seafloor depth:-1054.771184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.580317 meters looking forward 0.000000 meters along route # Maximum depth: 1054.580317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.580317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.841278; captureRadius = 10; duration = 119; initialDepth = 1003.100521; finalDepth = 1004.580317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.580317 # Seafloor depth:-1054.580317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1053.100521 meters looking forward 0.000000 meters along route # Maximum depth: 1053.100521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.100521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.841938; captureRadius = 10; duration = 119; initialDepth = 1004.627937; finalDepth = 1003.100521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.100521 # Seafloor depth:-1053.100521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.627937 meters looking forward 0.000000 meters along route # Maximum depth: 1054.627937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.627937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.842598; captureRadius = 10; duration = 119; initialDepth = 1004.315052; finalDepth = 1004.627937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.627937 # Seafloor depth:-1054.627937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1054.315052 meters looking forward 0.000000 meters along route # Maximum depth: 1054.315052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.315052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.843259; captureRadius = 10; duration = 119; initialDepth = 1008.500226; finalDepth = 1004.315052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.315052 # Seafloor depth:-1054.315052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1058.500226 meters looking forward 0.000000 meters along route # Maximum depth: 1058.500226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.500226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737223; longitude = -121.843972; captureRadius = 10; duration = 119; initialDepth = 1006.299282; finalDepth = 1008.500226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.500226 # Seafloor depth:-1058.500226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1056.299282 meters looking forward 0.000000 meters along route # Maximum depth: 1056.299282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.299282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.844579; captureRadius = 10; duration = 119; initialDepth = 1005.206639; finalDepth = 1006.299282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.299282 # Seafloor depth:-1056.299282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.206639 meters looking forward 0.000000 meters along route # Maximum depth: 1055.206639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.206639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.845239; captureRadius = 10; duration = 119; initialDepth = 1006.520867; finalDepth = 1005.206639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.206639 # Seafloor depth:-1055.206639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1056.520867 meters looking forward 0.000000 meters along route # Maximum depth: 1056.520867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.520867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734792; longitude = -121.845907; captureRadius = 10; duration = 119; initialDepth = 1006.703893; finalDepth = 1006.520867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.520867 # Seafloor depth:-1056.520867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1056.703893 meters looking forward 0.000000 meters along route # Maximum depth: 1056.703893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.703893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.846559; captureRadius = 10; duration = 119; initialDepth = 1008.415897; finalDepth = 1006.703893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.703893 # Seafloor depth:-1056.703893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1058.415897 meters looking forward 0.000000 meters along route # Maximum depth: 1058.415897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.415897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.847219; captureRadius = 10; duration = 119; initialDepth = 1012.113731; finalDepth = 1008.415897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.415897 # Seafloor depth:-1058.415897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1062.113731 meters looking forward 0.000000 meters along route # Maximum depth: 1062.113731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.113731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.847880; captureRadius = 10; duration = 119; initialDepth = 1007.360667; finalDepth = 1012.113731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.113731 # Seafloor depth:-1062.113731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1057.360667 meters looking forward 0.000000 meters along route # Maximum depth: 1057.360667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.360667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.848540; captureRadius = 10; duration = 119; initialDepth = 1005.309477; finalDepth = 1007.360667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.360667 # Seafloor depth:-1057.360667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.608441 meters # Minimum depth: 1055.309477 meters looking forward 0.000000 meters along route # Maximum depth: 1055.309477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.309477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730626; longitude = -121.849224; captureRadius = 10; duration = 119; initialDepth = 1006.024689; finalDepth = 1005.309477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.309477 # Seafloor depth:-1055.309477 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 119.608441 meters # Minimum depth: 1056.024689 meters looking forward 0.000000 meters along route # Maximum depth: 1056.024689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.024689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729654; longitude = -121.849998; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1006.911438; finalDepth = 1006.024689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.024689 # Seafloor depth:-1056.024689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.608441 meters # Minimum depth: 1056.911438 meters looking forward 0.000000 meters along route # Maximum depth: 1056.911438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.911438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.850732; captureRadius = 10; duration = 119; initialDepth = 1008.634221; finalDepth = 1006.911438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.911438 # Seafloor depth:-1056.911438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.608441 meters # Minimum depth: 1058.634221 meters looking forward 0.000000 meters along route # Maximum depth: 1058.634221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.634221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730704; longitude = -121.851712; captureRadius = 10; duration = 119; initialDepth = 1010.528992; finalDepth = 1008.634221; 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 # Actual altitude: 50 # Commanded vehicle depth:1008.634221 # Seafloor depth:-1058.634221 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 119.608441 meters # Minimum depth: 1060.528992 meters looking forward 0.000000 meters along route # Maximum depth: 1060.528992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.528992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731348; longitude = -121.852763; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1011.241730; finalDepth = 1010.528992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.528992 # Seafloor depth:-1060.528992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1061.241730 meters looking forward 0.000000 meters along route # Maximum depth: 1061.241730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.241730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.852432; captureRadius = 10; duration = 119; initialDepth = 1008.570566; finalDepth = 1011.241730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.24173 # Seafloor depth:-1061.241730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.570566 meters looking forward 0.000000 meters along route # Maximum depth: 1058.570566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.570566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732664; longitude = -121.851712; captureRadius = 10; duration = 119; initialDepth = 1009.744345; finalDepth = 1008.570566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.570566 # Seafloor depth:-1058.570566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.744345 meters looking forward 0.000000 meters along route # Maximum depth: 1059.744345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.744345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.851107; captureRadius = 10; duration = 119; initialDepth = 1009.568857; finalDepth = 1009.744345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.744345 # Seafloor depth:-1059.744345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.568857 meters looking forward 0.000000 meters along route # Maximum depth: 1059.568857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.568857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.850445; captureRadius = 10; duration = 119; initialDepth = 1009.123595; finalDepth = 1009.568857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.568857 # Seafloor depth:-1059.568857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.123595 meters looking forward 0.000000 meters along route # Maximum depth: 1059.123595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.123595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735086; longitude = -121.849777; captureRadius = 10; duration = 119; initialDepth = 1009.178733; finalDepth = 1009.123595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.123595 # Seafloor depth:-1059.123595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.178733 meters looking forward 0.000000 meters along route # Maximum depth: 1059.178733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.178733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.849120; captureRadius = 10; duration = 119; initialDepth = 1010.834116; finalDepth = 1009.178733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.178733 # Seafloor depth:-1059.178733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.834116 meters looking forward 0.000000 meters along route # Maximum depth: 1060.834116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.834116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.848458; captureRadius = 10; duration = 119; initialDepth = 1013.938726; finalDepth = 1010.834116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.834116 # Seafloor depth:-1060.834116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1063.938726 meters looking forward 0.000000 meters along route # Maximum depth: 1063.938726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.938726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.847795; captureRadius = 10; duration = 119; initialDepth = 1015.806909; finalDepth = 1013.938726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.938726 # Seafloor depth:-1063.938726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1065.806909 meters looking forward 0.000000 meters along route # Maximum depth: 1065.806909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.806909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.847133; captureRadius = 10; duration = 119; initialDepth = 1010.216966; finalDepth = 1015.806909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.806909 # Seafloor depth:-1065.806909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.216966 meters looking forward 0.000000 meters along route # Maximum depth: 1060.216966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.216966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739238; longitude = -121.846460; captureRadius = 10; duration = 119; initialDepth = 1008.647328; finalDepth = 1010.216966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.216966 # Seafloor depth:-1060.216966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.647328 meters looking forward 0.000000 meters along route # Maximum depth: 1058.647328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.647328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.845808; captureRadius = 10; duration = 119; initialDepth = 1008.921188; finalDepth = 1008.647328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.647328 # Seafloor depth:-1058.647328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.921188 meters looking forward 0.000000 meters along route # Maximum depth: 1058.921188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.921188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.845146; captureRadius = 10; duration = 119; initialDepth = 1007.223232; finalDepth = 1008.921188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.921188 # Seafloor depth:-1058.921188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.223232 meters looking forward 0.000000 meters along route # Maximum depth: 1057.223232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.223232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.844484; captureRadius = 10; duration = 119; initialDepth = 1010.139199; finalDepth = 1007.223232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.223232 # Seafloor depth:-1057.223232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.139199 meters looking forward 0.000000 meters along route # Maximum depth: 1060.139199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.139199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.843821; captureRadius = 10; duration = 119; initialDepth = 1008.850658; finalDepth = 1010.139199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.139199 # Seafloor depth:-1060.139199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.850658 meters looking forward 0.000000 meters along route # Maximum depth: 1058.850658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.850658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743391; longitude = -121.843143; captureRadius = 10; duration = 119; initialDepth = 1008.541074; finalDepth = 1008.850658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.850658 # Seafloor depth:-1058.850658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.541074 meters looking forward 0.000000 meters along route # Maximum depth: 1058.541074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.541074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.842496; captureRadius = 10; duration = 119; initialDepth = 1008.036369; finalDepth = 1008.541074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.541074 # Seafloor depth:-1058.541074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.036369 meters looking forward 0.000000 meters along route # Maximum depth: 1058.036369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.036369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.841834; captureRadius = 10; duration = 119; initialDepth = 1007.157432; finalDepth = 1008.036369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.036369 # Seafloor depth:-1058.036369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.157432 meters looking forward 0.000000 meters along route # Maximum depth: 1057.157432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.157432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.841172; captureRadius = 10; duration = 119; initialDepth = 1008.646305; finalDepth = 1007.157432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.157432 # Seafloor depth:-1057.157432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.646305 meters looking forward 0.000000 meters along route # Maximum depth: 1058.646305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.646305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.840509; captureRadius = 10; duration = 119; initialDepth = 1006.693525; finalDepth = 1008.646305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.646305 # Seafloor depth:-1058.646305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1056.693525 meters looking forward 0.000000 meters along route # Maximum depth: 1056.693525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.693525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747543; longitude = -121.839826; captureRadius = 10; duration = 119; initialDepth = 1007.763661; finalDepth = 1006.693525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.693525 # Seafloor depth:-1056.693525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.763661 meters looking forward 0.000000 meters along route # Maximum depth: 1057.763661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.763661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.839184; captureRadius = 10; duration = 119; initialDepth = 1014.461215; finalDepth = 1007.763661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.763661 # Seafloor depth:-1057.763661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1064.461215 meters looking forward 0.000000 meters along route # Maximum depth: 1064.461215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.461215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.838522; captureRadius = 10; duration = 119; initialDepth = 1010.762661; finalDepth = 1014.461215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.461215 # Seafloor depth:-1064.461215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.762661 meters looking forward 0.000000 meters along route # Maximum depth: 1060.762661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.762661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.837860; captureRadius = 10; duration = 119; initialDepth = 1007.192063; finalDepth = 1010.762661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.762661 # Seafloor depth:-1060.762661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.192063 meters looking forward 0.000000 meters along route # Maximum depth: 1057.192063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.192063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.837197; captureRadius = 10; duration = 119; initialDepth = 1022.963718; finalDepth = 1007.192063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.192063 # Seafloor depth:-1057.192063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1072.963718 meters looking forward 0.000000 meters along route # Maximum depth: 1072.963718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.963718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751695; longitude = -121.836510; captureRadius = 10; duration = 119; initialDepth = 1013.185921; finalDepth = 1022.963718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.963718 # Seafloor depth:-1072.963718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1063.185921 meters looking forward 0.000000 meters along route # Maximum depth: 1063.185921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.185921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.835873; captureRadius = 10; duration = 119; initialDepth = 1010.036259; finalDepth = 1013.185921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.185921 # Seafloor depth:-1063.185921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.036259 meters looking forward 0.000000 meters along route # Maximum depth: 1060.036259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.036259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.835210; captureRadius = 10; duration = 119; initialDepth = 1012.980081; finalDepth = 1010.036259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.036259 # Seafloor depth:-1060.036259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1062.980081 meters looking forward 0.000000 meters along route # Maximum depth: 1062.980081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.980081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.834548; captureRadius = 10; duration = 119; initialDepth = 1010.922758; finalDepth = 1012.980081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.980081 # Seafloor depth:-1062.980081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.922758 meters looking forward 0.000000 meters along route # Maximum depth: 1060.922758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.922758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.833885; captureRadius = 10; duration = 119; initialDepth = 1010.006630; finalDepth = 1010.922758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.922758 # Seafloor depth:-1060.922758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.006630 meters looking forward 0.000000 meters along route # Maximum depth: 1060.006630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.006630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755847; longitude = -121.833193; captureRadius = 10; duration = 119; initialDepth = 1008.617664; finalDepth = 1010.006630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.00663 # Seafloor depth:-1060.006630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.617664 meters looking forward 0.000000 meters along route # Maximum depth: 1058.617664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.617664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.832561; captureRadius = 10; duration = 119; initialDepth = 1010.786004; finalDepth = 1008.617664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.617664 # Seafloor depth:-1058.617664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.786004 meters looking forward 0.000000 meters along route # Maximum depth: 1060.786004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.786004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.831898; captureRadius = 10; duration = 119; initialDepth = 1007.704051; finalDepth = 1010.786004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.786004 # Seafloor depth:-1060.786004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.704051 meters looking forward 0.000000 meters along route # Maximum depth: 1057.704051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.704051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.831236; captureRadius = 10; duration = 119; initialDepth = 1009.689696; finalDepth = 1007.704051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.704051 # Seafloor depth:-1057.704051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.689696 meters looking forward 0.000000 meters along route # Maximum depth: 1059.689696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.689696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.830573; captureRadius = 10; duration = 119; initialDepth = 1010.951274; finalDepth = 1009.689696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.689696 # Seafloor depth:-1059.689696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.951274 meters looking forward 0.000000 meters along route # Maximum depth: 1060.951274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.951274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759999; longitude = -121.829876; captureRadius = 10; duration = 119; initialDepth = 1008.360415; finalDepth = 1010.951274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.951274 # Seafloor depth:-1060.951274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.360415 meters looking forward 0.000000 meters along route # Maximum depth: 1058.360415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.360415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.829249; captureRadius = 10; duration = 119; initialDepth = 1007.856759; finalDepth = 1008.360415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.360415 # Seafloor depth:-1058.360415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.856759 meters looking forward 0.000000 meters along route # Maximum depth: 1057.856759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.856759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.828586; captureRadius = 10; duration = 119; initialDepth = 1008.370960; finalDepth = 1007.856759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.856759 # Seafloor depth:-1057.856759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.370960 meters looking forward 0.000000 meters along route # Maximum depth: 1058.370960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.370960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.827924; captureRadius = 10; duration = 119; initialDepth = 1005.357368; finalDepth = 1008.370960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.37096 # Seafloor depth:-1058.370960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1055.357368 meters looking forward 0.000000 meters along route # Maximum depth: 1055.357368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.357368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.827262; captureRadius = 10; duration = 119; initialDepth = 1011.436921; finalDepth = 1005.357368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.357368 # Seafloor depth:-1055.357368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1061.436921 meters looking forward 0.000000 meters along route # Maximum depth: 1061.436921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.436921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764152; longitude = -121.826559; captureRadius = 10; duration = 119; initialDepth = 1013.266251; finalDepth = 1011.436921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.436921 # Seafloor depth:-1061.436921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1063.266251 meters looking forward 0.000000 meters along route # Maximum depth: 1063.266251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.266251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.825937; captureRadius = 10; duration = 119; initialDepth = 1006.690025; finalDepth = 1013.266251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.266251 # Seafloor depth:-1063.266251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1056.690025 meters looking forward 0.000000 meters along route # Maximum depth: 1056.690025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.690025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.825274; captureRadius = 10; duration = 119; initialDepth = 1008.866497; finalDepth = 1006.690025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.690025 # Seafloor depth:-1056.690025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.866497 meters looking forward 0.000000 meters along route # Maximum depth: 1058.866497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.866497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.824612; captureRadius = 10; duration = 119; initialDepth = 1005.927083; finalDepth = 1008.866497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.866497 # Seafloor depth:-1058.866497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1055.927083 meters looking forward 0.000000 meters along route # Maximum depth: 1055.927083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.927083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.823950; captureRadius = 10; duration = 119; initialDepth = 1007.128882; finalDepth = 1005.927083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.927083 # Seafloor depth:-1055.927083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.128882 meters looking forward 0.000000 meters along route # Maximum depth: 1057.128882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.128882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768304; longitude = -121.823242; captureRadius = 10; duration = 119; initialDepth = 1006.874789; finalDepth = 1007.128882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.128882 # Seafloor depth:-1057.128882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1056.874789 meters looking forward 0.000000 meters along route # Maximum depth: 1056.874789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.874789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.822625; captureRadius = 10; duration = 119; initialDepth = 1008.784342; finalDepth = 1006.874789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.874789 # Seafloor depth:-1056.874789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.784342 meters looking forward 0.000000 meters along route # Maximum depth: 1058.784342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.784342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.821962; captureRadius = 10; duration = 119; initialDepth = 1006.384555; finalDepth = 1008.784342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.784342 # Seafloor depth:-1058.784342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1056.384555 meters looking forward 0.000000 meters along route # Maximum depth: 1056.384555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.384555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.821300; captureRadius = 10; duration = 119; initialDepth = 1007.032255; finalDepth = 1006.384555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.384555 # Seafloor depth:-1056.384555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1057.032255 meters looking forward 0.000000 meters along route # Maximum depth: 1057.032255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.032255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.820638; captureRadius = 10; duration = 119; initialDepth = 1005.000834; finalDepth = 1007.032255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.032255 # Seafloor depth:-1057.032255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1055.000834 meters looking forward 0.000000 meters along route # Maximum depth: 1055.000834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.000834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772456; longitude = -121.819925; captureRadius = 10; duration = 119; initialDepth = 1009.120453; finalDepth = 1005.000834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.000834 # Seafloor depth:-1055.000834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.120453 meters looking forward 0.000000 meters along route # Maximum depth: 1059.120453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.120453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.819313; captureRadius = 10; duration = 119; initialDepth = 1009.031874; finalDepth = 1009.120453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.120453 # Seafloor depth:-1059.120453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1059.031874 meters looking forward 0.000000 meters along route # Maximum depth: 1059.031874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.031874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.818651; captureRadius = 10; duration = 119; initialDepth = 1011.085697; finalDepth = 1009.031874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.031874 # Seafloor depth:-1059.031874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1061.085697 meters looking forward 0.000000 meters along route # Maximum depth: 1061.085697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.085697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.817988; captureRadius = 10; duration = 119; initialDepth = 1012.248459; finalDepth = 1011.085697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.085697 # Seafloor depth:-1061.085697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1062.248459 meters looking forward 0.000000 meters along route # Maximum depth: 1062.248459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.248459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.817326; captureRadius = 10; duration = 119; initialDepth = 1006.277770; finalDepth = 1012.248459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.248459 # Seafloor depth:-1062.248459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1056.277770 meters looking forward 0.000000 meters along route # Maximum depth: 1056.277770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.277770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776608; longitude = -121.816608; captureRadius = 10; duration = 119; initialDepth = 1004.098026; finalDepth = 1006.277770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.27777 # Seafloor depth:-1056.277770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1054.098026 meters looking forward 0.000000 meters along route # Maximum depth: 1054.098026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.098026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.816001; captureRadius = 10; duration = 119; initialDepth = 1011.443024; finalDepth = 1004.098026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.098026 # Seafloor depth:-1054.098026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1061.443024 meters looking forward 0.000000 meters along route # Maximum depth: 1061.443024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.443024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.815339; captureRadius = 10; duration = 119; initialDepth = 1012.569516; finalDepth = 1011.443024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.443024 # Seafloor depth:-1061.443024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1062.569516 meters looking forward 0.000000 meters along route # Maximum depth: 1062.569516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.569516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779030; longitude = -121.814674; captureRadius = 10; duration = 119; initialDepth = 1010.348506; finalDepth = 1012.569516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.569516 # Seafloor depth:-1062.569516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1060.348506 meters looking forward 0.000000 meters along route # Maximum depth: 1060.348506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.348506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.814014; captureRadius = 10; duration = 119; initialDepth = 1008.944465; finalDepth = 1010.348506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.348506 # Seafloor depth:-1060.348506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1058.944465 meters looking forward 0.000000 meters along route # Maximum depth: 1058.944465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.944465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.813351; captureRadius = 10; duration = 119; initialDepth = 1005.768633; finalDepth = 1008.944465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.944465 # Seafloor depth:-1058.944465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1055.768633 meters looking forward 0.000000 meters along route # Maximum depth: 1055.768633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.768633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.812689; captureRadius = 10; duration = 119; initialDepth = 1005.905765; finalDepth = 1005.768633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.768633 # Seafloor depth:-1055.768633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1055.905765 meters looking forward 0.000000 meters along route # Maximum depth: 1055.905765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.905765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.812027; captureRadius = 10; duration = 119; initialDepth = 1002.724131; finalDepth = 1005.905765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.905765 # Seafloor depth:-1055.905765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1052.724131 meters looking forward 0.000000 meters along route # Maximum depth: 1052.724131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.724131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783183; longitude = -121.811357; captureRadius = 10; duration = 119; initialDepth = 1000.970914; finalDepth = 1002.724131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.724131 # Seafloor depth:-1052.724131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1050.970914 meters looking forward 0.000000 meters along route # Maximum depth: 1050.970914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.970914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.810702; captureRadius = 10; duration = 119; initialDepth = 999.741651; finalDepth = 1000.970914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.970914 # Seafloor depth:-1050.970914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1049.741651 meters looking forward 0.000000 meters along route # Maximum depth: 1049.741651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.741651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.810040; captureRadius = 10; duration = 119; initialDepth = 1002.195936; finalDepth = 999.741651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.741651 # Seafloor depth:-1049.741651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1052.195936 meters looking forward 0.000000 meters along route # Maximum depth: 1052.195936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.195936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.809377; captureRadius = 10; duration = 119; initialDepth = 1001.409277; finalDepth = 1002.195936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.195936 # Seafloor depth:-1052.195936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1051.409277 meters looking forward 0.000000 meters along route # Maximum depth: 1051.409277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.409277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.808715; captureRadius = 10; duration = 119; initialDepth = 998.436434; finalDepth = 1001.409277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.409277 # Seafloor depth:-1051.409277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1048.436434 meters looking forward 0.000000 meters along route # Maximum depth: 1048.436434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.436434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787335; longitude = -121.808040; captureRadius = 10; duration = 119; initialDepth = 997.255514; finalDepth = 998.436434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.436434 # Seafloor depth:-1048.436434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1047.255514 meters looking forward 0.000000 meters along route # Maximum depth: 1047.255514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.255514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.807390; captureRadius = 10; duration = 119; initialDepth = 996.660584; finalDepth = 997.255514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.255514 # Seafloor depth:-1047.255514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1046.660584 meters looking forward 0.000000 meters along route # Maximum depth: 1046.660584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.660584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.806728; captureRadius = 10; duration = 119; initialDepth = 995.187616; finalDepth = 996.660584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.660584 # Seafloor depth:-1046.660584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1045.187616 meters looking forward 0.000000 meters along route # Maximum depth: 1045.187616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.187616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.806065; captureRadius = 10; duration = 119; initialDepth = 993.650648; finalDepth = 995.187616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.187616 # Seafloor depth:-1045.187616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1043.650648 meters looking forward 0.000000 meters along route # Maximum depth: 1043.650648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.650648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.805403; captureRadius = 10; duration = 119; initialDepth = 994.068893; finalDepth = 993.650648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.650648 # Seafloor depth:-1043.650648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1044.068893 meters looking forward 0.000000 meters along route # Maximum depth: 1044.068893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.068893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791487; longitude = -121.804723; captureRadius = 10; duration = 119; initialDepth = 994.321300; finalDepth = 994.068893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.068893 # Seafloor depth:-1044.068893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.608441 meters # Minimum depth: 1044.321300 meters looking forward 0.000000 meters along route # Maximum depth: 1044.321300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.321300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.804078; captureRadius = 10; duration = 119; initialDepth = 991.699707; finalDepth = 994.321300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.3213 # Seafloor depth:-1044.321300 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 119.608441 meters # Minimum depth: 1041.699707 meters looking forward 0.000000 meters along route # Maximum depth: 1041.699707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.699707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793176; longitude = -121.803374; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 994.114936; finalDepth = 991.699707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.699707 # Seafloor depth:-1041.699707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.608441 meters # Minimum depth: 1044.114936 meters looking forward 0.000000 meters along route # Maximum depth: 1044.114936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.114936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793578; longitude = -121.804170; captureRadius = 10; duration = 119; initialDepth = 997.572150; finalDepth = 994.114936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.114936 # Seafloor depth:-1044.114936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.608441 meters # Minimum depth: 1047.572150 meters looking forward 0.000000 meters along route # Maximum depth: 1047.572150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.572150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794136; longitude = -121.805276; captureRadius = 10; duration = 119; initialDepth = 999.828796; finalDepth = 997.572150; 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 # Actual altitude: 50 # Commanded vehicle depth:997.57215 # Seafloor depth:-1047.572150 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 119.608441 meters # Minimum depth: 1049.828796 meters looking forward 0.000000 meters along route # Maximum depth: 1049.828796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.828796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794624; longitude = -121.806242; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1003.274894; finalDepth = 999.828796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.828796 # Seafloor depth:-1049.828796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1053.274894 meters looking forward 0.000000 meters along route # Maximum depth: 1053.274894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.274894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.806558; captureRadius = 10; duration = 119; initialDepth = 1005.425103; finalDepth = 1003.274894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.274894 # Seafloor depth:-1053.274894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1055.425103 meters looking forward 0.000000 meters along route # Maximum depth: 1055.425103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.425103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.807223; captureRadius = 10; duration = 119; initialDepth = 998.114518; finalDepth = 1005.425103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.425103 # Seafloor depth:-1055.425103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1048.114518 meters looking forward 0.000000 meters along route # Maximum depth: 1048.114518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.114518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.807888; captureRadius = 10; duration = 119; initialDepth = 1000.512871; finalDepth = 998.114518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.114518 # Seafloor depth:-1048.114518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1050.512871 meters looking forward 0.000000 meters along route # Maximum depth: 1050.512871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.512871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791692; longitude = -121.808593; captureRadius = 10; duration = 119; initialDepth = 999.535327; finalDepth = 1000.512871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.512871 # Seafloor depth:-1050.512871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1049.535327 meters looking forward 0.000000 meters along route # Maximum depth: 1049.535327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.535327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.809218; captureRadius = 10; duration = 119; initialDepth = 1000.983302; finalDepth = 999.535327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.535327 # Seafloor depth:-1049.535327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1050.983302 meters looking forward 0.000000 meters along route # Maximum depth: 1050.983302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.983302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.809883; captureRadius = 10; duration = 119; initialDepth = 1004.410797; finalDepth = 1000.983302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.983302 # Seafloor depth:-1050.983302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1054.410797 meters looking forward 0.000000 meters along route # Maximum depth: 1054.410797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.410797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.810547; captureRadius = 10; duration = 119; initialDepth = 1003.352321; finalDepth = 1004.410797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.410797 # Seafloor depth:-1054.410797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1053.352321 meters looking forward 0.000000 meters along route # Maximum depth: 1053.352321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.352321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.811212; captureRadius = 10; duration = 119; initialDepth = 1005.387017; finalDepth = 1003.352321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.352321 # Seafloor depth:-1053.352321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1055.387017 meters looking forward 0.000000 meters along route # Maximum depth: 1055.387017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.387017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787555; longitude = -121.811910; captureRadius = 10; duration = 119; initialDepth = 1003.719414; finalDepth = 1005.387017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.387017 # Seafloor depth:-1055.387017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1053.719414 meters looking forward 0.000000 meters along route # Maximum depth: 1053.719414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.719414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.812542; captureRadius = 10; duration = 119; initialDepth = 1003.619918; finalDepth = 1003.719414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.719414 # Seafloor depth:-1053.719414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1053.619918 meters looking forward 0.000000 meters along route # Maximum depth: 1053.619918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.619918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.813207; captureRadius = 10; duration = 119; initialDepth = 1007.047770; finalDepth = 1003.619918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.619918 # Seafloor depth:-1053.619918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1057.047770 meters looking forward 0.000000 meters along route # Maximum depth: 1057.047770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.047770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.813872; captureRadius = 10; duration = 119; initialDepth = 1007.856419; finalDepth = 1007.047770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.04777 # Seafloor depth:-1057.047770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1057.856419 meters looking forward 0.000000 meters along route # Maximum depth: 1057.856419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.856419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.814537; captureRadius = 10; duration = 119; initialDepth = 1009.557900; finalDepth = 1007.856419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.856419 # Seafloor depth:-1057.856419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1059.557900 meters looking forward 0.000000 meters along route # Maximum depth: 1059.557900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.557900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783418; longitude = -121.815226; captureRadius = 10; duration = 119; initialDepth = 1014.580351; finalDepth = 1009.557900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.5579 # Seafloor depth:-1059.557900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.580351 meters looking forward 0.000000 meters along route # Maximum depth: 1064.580351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.580351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.815866; captureRadius = 10; duration = 119; initialDepth = 1018.236117; finalDepth = 1014.580351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.580351 # Seafloor depth:-1064.580351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1068.236117 meters looking forward 0.000000 meters along route # Maximum depth: 1068.236117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.236117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.816531; captureRadius = 10; duration = 119; initialDepth = 1019.977543; finalDepth = 1018.236117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.236117 # Seafloor depth:-1068.236117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1069.977543 meters looking forward 0.000000 meters along route # Maximum depth: 1069.977543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.977543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.817196; captureRadius = 10; duration = 119; initialDepth = 1012.772352; finalDepth = 1019.977543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.977543 # Seafloor depth:-1069.977543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.772352 meters looking forward 0.000000 meters along route # Maximum depth: 1062.772352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.772352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.817861; captureRadius = 10; duration = 119; initialDepth = 1013.342172; finalDepth = 1012.772352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.772352 # Seafloor depth:-1062.772352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.342172 meters looking forward 0.000000 meters along route # Maximum depth: 1063.342172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.342172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779282; longitude = -121.818543; captureRadius = 10; duration = 119; initialDepth = 1011.149861; finalDepth = 1013.342172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.342172 # Seafloor depth:-1063.342172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.149861 meters looking forward 0.000000 meters along route # Maximum depth: 1061.149861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.149861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.819190; captureRadius = 10; duration = 119; initialDepth = 1010.093469; finalDepth = 1011.149861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.149861 # Seafloor depth:-1061.149861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1060.093469 meters looking forward 0.000000 meters along route # Maximum depth: 1060.093469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.093469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.819855; captureRadius = 10; duration = 119; initialDepth = 1008.507433; finalDepth = 1010.093469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.093469 # Seafloor depth:-1060.093469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1058.507433 meters looking forward 0.000000 meters along route # Maximum depth: 1058.507433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.507433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.820520; captureRadius = 10; duration = 119; initialDepth = 1013.490283; finalDepth = 1008.507433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.507433 # Seafloor depth:-1058.507433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.490283 meters looking forward 0.000000 meters along route # Maximum depth: 1063.490283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.490283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.821185; captureRadius = 10; duration = 119; initialDepth = 1015.052962; finalDepth = 1013.490283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.490283 # Seafloor depth:-1063.490283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.052962 meters looking forward 0.000000 meters along route # Maximum depth: 1065.052962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.052962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775145; longitude = -121.821860; captureRadius = 10; duration = 119; initialDepth = 1019.812573; finalDepth = 1015.052962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.052962 # Seafloor depth:-1065.052962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1069.812573 meters looking forward 0.000000 meters along route # Maximum depth: 1069.812573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.812573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.822515; captureRadius = 10; duration = 119; initialDepth = 1009.252151; finalDepth = 1019.812573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.812573 # Seafloor depth:-1069.812573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1059.252151 meters looking forward 0.000000 meters along route # Maximum depth: 1059.252151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.252151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.823180; captureRadius = 10; duration = 119; initialDepth = 1014.420763; finalDepth = 1009.252151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.252151 # Seafloor depth:-1059.252151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.420763 meters looking forward 0.000000 meters along route # Maximum depth: 1064.420763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.420763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.823844; captureRadius = 10; duration = 119; initialDepth = 1010.754924; finalDepth = 1014.420763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.420763 # Seafloor depth:-1064.420763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1060.754924 meters looking forward 0.000000 meters along route # Maximum depth: 1060.754924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.754924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.824509; captureRadius = 10; duration = 119; initialDepth = 1011.836644; finalDepth = 1010.754924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.754924 # Seafloor depth:-1060.754924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.836644 meters looking forward 0.000000 meters along route # Maximum depth: 1061.836644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.836644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771008; longitude = -121.825177; captureRadius = 10; duration = 119; initialDepth = 1011.557913; finalDepth = 1011.836644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.836644 # Seafloor depth:-1061.836644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.557913 meters looking forward 0.000000 meters along route # Maximum depth: 1061.557913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.557913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.825839; captureRadius = 10; duration = 119; initialDepth = 1012.206588; finalDepth = 1011.557913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.557913 # Seafloor depth:-1061.557913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.206588 meters looking forward 0.000000 meters along route # Maximum depth: 1062.206588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.206588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769284; longitude = -121.826559; captureRadius = 10; duration = 119; initialDepth = 1011.088050; finalDepth = 1012.206588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.206588 # Seafloor depth:-1062.206588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.088050 meters looking forward 0.000000 meters along route # Maximum depth: 1061.088050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.088050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.827169; captureRadius = 10; duration = 119; initialDepth = 1014.995228; finalDepth = 1011.088050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.08805 # Seafloor depth:-1061.088050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.995228 meters looking forward 0.000000 meters along route # Maximum depth: 1064.995228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.995228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.827833; captureRadius = 10; duration = 119; initialDepth = 1013.103764; finalDepth = 1014.995228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.995228 # Seafloor depth:-1064.995228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.103764 meters looking forward 0.000000 meters along route # Maximum depth: 1063.103764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.103764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.828498; captureRadius = 10; duration = 119; initialDepth = 1011.171699; finalDepth = 1013.103764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.103764 # Seafloor depth:-1063.103764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.171699 meters looking forward 0.000000 meters along route # Maximum depth: 1061.171699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.171699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.829163; captureRadius = 10; duration = 119; initialDepth = 1011.745781; finalDepth = 1011.171699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.171699 # Seafloor depth:-1061.171699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.745781 meters looking forward 0.000000 meters along route # Maximum depth: 1061.745781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.745781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765147; longitude = -121.829876; captureRadius = 10; duration = 119; initialDepth = 1012.198029; finalDepth = 1011.745781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.745781 # Seafloor depth:-1061.745781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.198029 meters looking forward 0.000000 meters along route # Maximum depth: 1062.198029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.198029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.830493; captureRadius = 10; duration = 119; initialDepth = 1013.070095; finalDepth = 1012.198029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.198029 # Seafloor depth:-1062.198029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.070095 meters looking forward 0.000000 meters along route # Maximum depth: 1063.070095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.070095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.831158; captureRadius = 10; duration = 119; initialDepth = 1015.263016; finalDepth = 1013.070095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.070095 # Seafloor depth:-1063.070095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.263016 meters looking forward 0.000000 meters along route # Maximum depth: 1065.263016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.263016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.831823; captureRadius = 10; duration = 119; initialDepth = 1013.545091; finalDepth = 1015.263016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.263016 # Seafloor depth:-1065.263016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.545091 meters looking forward 0.000000 meters along route # Maximum depth: 1063.545091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.545091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.832487; captureRadius = 10; duration = 119; initialDepth = 1011.281073; finalDepth = 1013.545091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.545091 # Seafloor depth:-1063.545091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.281073 meters looking forward 0.000000 meters along route # Maximum depth: 1061.281073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.281073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761011; longitude = -121.833193; captureRadius = 10; duration = 119; initialDepth = 1015.061577; finalDepth = 1011.281073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.281073 # Seafloor depth:-1061.281073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.061577 meters looking forward 0.000000 meters along route # Maximum depth: 1065.061577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.061577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.833817; captureRadius = 10; duration = 119; initialDepth = 1018.280023; finalDepth = 1015.061577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.061577 # Seafloor depth:-1065.061577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1068.280023 meters looking forward 0.000000 meters along route # Maximum depth: 1068.280023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.280023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.834482; captureRadius = 10; duration = 119; initialDepth = 1016.545273; finalDepth = 1018.280023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.280023 # Seafloor depth:-1068.280023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1066.545273 meters looking forward 0.000000 meters along route # Maximum depth: 1066.545273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.545273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.835147; captureRadius = 10; duration = 119; initialDepth = 1014.941298; finalDepth = 1016.545273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.545273 # Seafloor depth:-1066.545273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.941298 meters looking forward 0.000000 meters along route # Maximum depth: 1064.941298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.941298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.835812; captureRadius = 10; duration = 119; initialDepth = 1011.808409; finalDepth = 1014.941298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.941298 # Seafloor depth:-1064.941298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.808409 meters looking forward 0.000000 meters along route # Maximum depth: 1061.808409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.808409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756874; longitude = -121.836510; captureRadius = 10; duration = 119; initialDepth = 1016.538645; finalDepth = 1011.808409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.808409 # Seafloor depth:-1061.808409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1066.538645 meters looking forward 0.000000 meters along route # Maximum depth: 1066.538645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.538645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.837141; captureRadius = 10; duration = 119; initialDepth = 1028.013915; finalDepth = 1016.538645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.538645 # Seafloor depth:-1066.538645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1078.013915 meters looking forward 0.000000 meters along route # Maximum depth: 1078.013915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.013915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.837806; captureRadius = 10; duration = 119; initialDepth = 1016.364851; finalDepth = 1028.013915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.013915 # Seafloor depth:-1078.013915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1066.364851 meters looking forward 0.000000 meters along route # Maximum depth: 1066.364851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.364851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.838471; captureRadius = 10; duration = 119; initialDepth = 1007.973969; finalDepth = 1016.364851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.364851 # Seafloor depth:-1066.364851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1057.973969 meters looking forward 0.000000 meters along route # Maximum depth: 1057.973969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.973969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.839136; captureRadius = 10; duration = 119; initialDepth = 1014.031072; finalDepth = 1007.973969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.973969 # Seafloor depth:-1057.973969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.031072 meters looking forward 0.000000 meters along route # Maximum depth: 1064.031072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.031072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752737; longitude = -121.839826; captureRadius = 10; duration = 119; initialDepth = 1015.634817; finalDepth = 1014.031072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.031072 # Seafloor depth:-1064.031072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.634817 meters looking forward 0.000000 meters along route # Maximum depth: 1065.634817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.634817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.840466; captureRadius = 10; duration = 119; initialDepth = 1011.818260; finalDepth = 1015.634817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.634817 # Seafloor depth:-1065.634817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.818260 meters looking forward 0.000000 meters along route # Maximum depth: 1061.818260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.818260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.841130; captureRadius = 10; duration = 119; initialDepth = 1011.808672; finalDepth = 1011.818260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.81826 # Seafloor depth:-1061.818260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.808672 meters looking forward 0.000000 meters along route # Maximum depth: 1061.808672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.808672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.841795; captureRadius = 10; duration = 119; initialDepth = 1014.810339; finalDepth = 1011.808672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.808672 # Seafloor depth:-1061.808672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.810339 meters looking forward 0.000000 meters along route # Maximum depth: 1064.810339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.810339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.842460; captureRadius = 10; duration = 119; initialDepth = 1014.716446; finalDepth = 1014.810339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.810339 # Seafloor depth:-1064.810339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.716446 meters looking forward 0.000000 meters along route # Maximum depth: 1064.716446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.716446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748600; longitude = -121.843143; captureRadius = 10; duration = 119; initialDepth = 1015.738286; finalDepth = 1014.716446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.716446 # Seafloor depth:-1064.716446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.738286 meters looking forward 0.000000 meters along route # Maximum depth: 1065.738286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.738286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.843790; captureRadius = 10; duration = 119; initialDepth = 1015.092815; finalDepth = 1015.738286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.738286 # Seafloor depth:-1065.738286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.092815 meters looking forward 0.000000 meters along route # Maximum depth: 1065.092815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.092815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.844455; captureRadius = 10; duration = 119; initialDepth = 1014.480682; finalDepth = 1015.092815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.092815 # Seafloor depth:-1065.092815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.480682 meters looking forward 0.000000 meters along route # Maximum depth: 1064.480682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.480682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.845120; captureRadius = 10; duration = 119; initialDepth = 1011.670475; finalDepth = 1014.480682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.480682 # Seafloor depth:-1064.480682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.670475 meters looking forward 0.000000 meters along route # Maximum depth: 1061.670475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.670475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.845784; captureRadius = 10; duration = 119; initialDepth = 1011.439095; finalDepth = 1011.670475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.670475 # Seafloor depth:-1061.670475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.439095 meters looking forward 0.000000 meters along route # Maximum depth: 1061.439095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.439095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744463; longitude = -121.846460; captureRadius = 10; duration = 119; initialDepth = 1012.620907; finalDepth = 1011.439095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.439095 # Seafloor depth:-1061.439095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.620907 meters looking forward 0.000000 meters along route # Maximum depth: 1062.620907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.620907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.847114; captureRadius = 10; duration = 119; initialDepth = 1015.291875; finalDepth = 1012.620907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.620907 # Seafloor depth:-1062.620907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.291875 meters looking forward 0.000000 meters along route # Maximum depth: 1065.291875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.291875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.847779; captureRadius = 10; duration = 119; initialDepth = 1012.829159; finalDepth = 1015.291875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.291875 # Seafloor depth:-1065.291875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.829159 meters looking forward 0.000000 meters along route # Maximum depth: 1062.829159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.829159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.848444; captureRadius = 10; duration = 119; initialDepth = 1014.143187; finalDepth = 1012.829159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.829159 # Seafloor depth:-1062.829159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.143187 meters looking forward 0.000000 meters along route # Maximum depth: 1064.143187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.143187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.849109; captureRadius = 10; duration = 119; initialDepth = 1013.531634; finalDepth = 1014.143187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.143187 # Seafloor depth:-1064.143187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.531634 meters looking forward 0.000000 meters along route # Maximum depth: 1063.531634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.531634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740326; longitude = -121.849777; captureRadius = 10; duration = 119; initialDepth = 1011.312794; finalDepth = 1013.531634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.531634 # Seafloor depth:-1063.531634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1061.312794 meters looking forward 0.000000 meters along route # Maximum depth: 1061.312794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.312794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.850438; captureRadius = 10; duration = 119; initialDepth = 1013.851895; finalDepth = 1011.312794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.312794 # Seafloor depth:-1061.312794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1063.851895 meters looking forward 0.000000 meters along route # Maximum depth: 1063.851895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.851895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738603; longitude = -121.851159; captureRadius = 10; duration = 119; initialDepth = 1019.935704; finalDepth = 1013.851895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.851895 # Seafloor depth:-1063.851895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1069.935704 meters looking forward 0.000000 meters along route # Maximum depth: 1069.935704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.935704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.851768; captureRadius = 10; duration = 119; initialDepth = 1015.954168; finalDepth = 1019.935704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.935704 # Seafloor depth:-1069.935704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.954168 meters looking forward 0.000000 meters along route # Maximum depth: 1065.954168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.954168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.852433; captureRadius = 10; duration = 119; initialDepth = 1015.919108; finalDepth = 1015.954168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.954168 # Seafloor depth:-1065.954168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1065.919108 meters looking forward 0.000000 meters along route # Maximum depth: 1065.919108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.919108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.853098; captureRadius = 10; duration = 119; initialDepth = 1012.666960; finalDepth = 1015.919108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.919108 # Seafloor depth:-1065.919108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1062.666960 meters looking forward 0.000000 meters along route # Maximum depth: 1062.666960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.666960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.853763; captureRadius = 10; duration = 119; initialDepth = 1014.014134; finalDepth = 1012.666960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.66696 # Seafloor depth:-1062.666960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1064.014134 meters looking forward 0.000000 meters along route # Maximum depth: 1064.014134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.014134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734466; longitude = -121.854476; captureRadius = 10; duration = 119; initialDepth = 1010.845811; finalDepth = 1014.014134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.014134 # Seafloor depth:-1064.014134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.608441 meters # Minimum depth: 1060.845811 meters looking forward 0.000000 meters along route # Maximum depth: 1060.845811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.845811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.855092; captureRadius = 10; duration = 119; initialDepth = 1012.496399; finalDepth = 1010.845811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.845811 # Seafloor depth:-1060.845811 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 119.608441 meters # Minimum depth: 1062.496399 meters looking forward 0.000000 meters along route # Maximum depth: 1062.496399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.496399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732934; longitude = -121.855704; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1011.463608; finalDepth = 1012.496399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.496399 # Seafloor depth:-1062.496399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1061.463608 meters looking forward 0.000000 meters along route # Maximum depth: 1061.463608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.463608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733321; longitude = -121.855581; captureRadius = 10; duration = 119; initialDepth = 1012.636344; finalDepth = 1011.463608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.463608 # Seafloor depth:-1061.463608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1062.636344 meters looking forward 0.000000 meters along route # Maximum depth: 1062.636344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.636344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.855287; captureRadius = 10; duration = 119; initialDepth = 1014.219094; finalDepth = 1012.636344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.636344 # Seafloor depth:-1062.636344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1064.219094 meters looking forward 0.000000 meters along route # Maximum depth: 1064.219094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.219094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.854937; captureRadius = 10; duration = 119; initialDepth = 1013.073254; finalDepth = 1014.219094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.219094 # Seafloor depth:-1064.219094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1063.073254 meters looking forward 0.000000 meters along route # Maximum depth: 1063.073254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.073254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.854586; captureRadius = 10; duration = 119; initialDepth = 1015.591264; finalDepth = 1013.073254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.073254 # Seafloor depth:-1063.073254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1065.591264 meters looking forward 0.000000 meters along route # Maximum depth: 1065.591264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.591264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.854236; captureRadius = 10; duration = 119; initialDepth = 1015.423127; finalDepth = 1015.591264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.591264 # Seafloor depth:-1065.591264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1065.423127 meters looking forward 0.000000 meters along route # Maximum depth: 1065.423127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.423127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738555; longitude = -121.853923; captureRadius = 10; duration = 119; initialDepth = 1013.775132; finalDepth = 1015.423127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.423127 # Seafloor depth:-1065.423127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.608441 meters # Minimum depth: 1063.775132 meters looking forward 0.000000 meters along route # Maximum depth: 1063.775132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.775132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.853623; captureRadius = 10; duration = 119; initialDepth = 1018.772827; finalDepth = 1013.775132; 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 # Actual altitude: 50 # Commanded vehicle depth:1013.775132 # Seafloor depth:-1063.775132 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 119.608441 meters # Minimum depth: 1068.772827 meters looking forward 0.000000 meters along route # Maximum depth: 1068.772827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.772827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740565; longitude = -121.853286; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 1022.802441; finalDepth = 1018.772827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.772827 # Seafloor depth:-1068.772827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1072.802441 meters looking forward 0.000000 meters along route # Maximum depth: 1072.802441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.802441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.852808; captureRadius = 10; duration = 119; initialDepth = 1018.910117; finalDepth = 1022.802441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.802441 # Seafloor depth:-1072.802441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.910117 meters looking forward 0.000000 meters along route # Maximum depth: 1068.910117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.910117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.852141; captureRadius = 10; duration = 119; initialDepth = 1017.209217; finalDepth = 1018.910117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.910117 # Seafloor depth:-1068.910117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.209217 meters looking forward 0.000000 meters along route # Maximum depth: 1067.209217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.209217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742868; longitude = -121.851435; captureRadius = 10; duration = 119; initialDepth = 1017.911754; finalDepth = 1017.209217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.209217 # Seafloor depth:-1067.209217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.911754 meters looking forward 0.000000 meters along route # Maximum depth: 1067.911754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.911754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.850809; captureRadius = 10; duration = 119; initialDepth = 1016.580014; finalDepth = 1017.911754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.911754 # Seafloor depth:-1067.911754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1066.580014 meters looking forward 0.000000 meters along route # Maximum depth: 1066.580014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.580014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.850142; captureRadius = 10; duration = 119; initialDepth = 1015.350124; finalDepth = 1016.580014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.580014 # Seafloor depth:-1066.580014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.350124 meters looking forward 0.000000 meters along route # Maximum depth: 1065.350124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.350124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.849476; captureRadius = 10; duration = 119; initialDepth = 1017.007400; finalDepth = 1015.350124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.350124 # Seafloor depth:-1065.350124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.007400 meters looking forward 0.000000 meters along route # Maximum depth: 1067.007400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.007400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.848810; captureRadius = 10; duration = 119; initialDepth = 1017.804928; finalDepth = 1017.007400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.0074 # Seafloor depth:-1067.007400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.804928 meters looking forward 0.000000 meters along route # Maximum depth: 1067.804928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.804928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746995; longitude = -121.848119; captureRadius = 10; duration = 119; initialDepth = 1017.630008; finalDepth = 1017.804928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.804928 # Seafloor depth:-1067.804928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.630008 meters looking forward 0.000000 meters along route # Maximum depth: 1067.630008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.630008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.847477; captureRadius = 10; duration = 119; initialDepth = 1015.827372; finalDepth = 1017.630008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.630008 # Seafloor depth:-1067.630008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.827372 meters looking forward 0.000000 meters along route # Maximum depth: 1065.827372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.827372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.846810; captureRadius = 10; duration = 119; initialDepth = 1015.510403; finalDepth = 1015.827372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.827372 # Seafloor depth:-1065.827372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.510403 meters looking forward 0.000000 meters along route # Maximum depth: 1065.510403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.510403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.846144; captureRadius = 10; duration = 119; initialDepth = 1018.576609; finalDepth = 1015.510403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.510403 # Seafloor depth:-1065.510403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.576609 meters looking forward 0.000000 meters along route # Maximum depth: 1068.576609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.576609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.845478; captureRadius = 10; duration = 119; initialDepth = 1021.797869; finalDepth = 1018.576609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.576609 # Seafloor depth:-1068.576609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1071.797869 meters looking forward 0.000000 meters along route # Maximum depth: 1071.797869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.797869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751122; longitude = -121.844802; captureRadius = 10; duration = 119; initialDepth = 1018.001941; finalDepth = 1021.797869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.797869 # Seafloor depth:-1071.797869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.001941 meters looking forward 0.000000 meters along route # Maximum depth: 1068.001941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.001941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.844145; captureRadius = 10; duration = 119; initialDepth = 1018.242721; finalDepth = 1018.001941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.001941 # Seafloor depth:-1068.001941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.242721 meters looking forward 0.000000 meters along route # Maximum depth: 1068.242721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.242721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752842; longitude = -121.843420; captureRadius = 10; duration = 119; initialDepth = 1019.823902; finalDepth = 1018.242721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.242721 # Seafloor depth:-1068.242721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1069.823902 meters looking forward 0.000000 meters along route # Maximum depth: 1069.823902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.823902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.842812; captureRadius = 10; duration = 119; initialDepth = 1020.228120; finalDepth = 1019.823902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.823902 # Seafloor depth:-1069.823902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1070.228120 meters looking forward 0.000000 meters along route # Maximum depth: 1070.228120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.228120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.842146; captureRadius = 10; duration = 119; initialDepth = 1022.123668; finalDepth = 1020.228120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.22812 # Seafloor depth:-1070.228120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1072.123668 meters looking forward 0.000000 meters along route # Maximum depth: 1072.123668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.123668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.841479; captureRadius = 10; duration = 119; initialDepth = 1022.159228; finalDepth = 1022.123668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.123668 # Seafloor depth:-1072.123668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1072.159228 meters looking forward 0.000000 meters along route # Maximum depth: 1072.159228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.159228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.840813; captureRadius = 10; duration = 119; initialDepth = 1025.251559; finalDepth = 1022.159228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.159228 # Seafloor depth:-1072.159228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1075.251559 meters looking forward 0.000000 meters along route # Maximum depth: 1075.251559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.251559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756969; longitude = -121.840103; captureRadius = 10; duration = 119; initialDepth = 1018.675806; finalDepth = 1025.251559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.251559 # Seafloor depth:-1075.251559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.675806 meters looking forward 0.000000 meters along route # Maximum depth: 1068.675806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.675806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.839480; captureRadius = 10; duration = 119; initialDepth = 1019.674623; finalDepth = 1018.675806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.675806 # Seafloor depth:-1068.675806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1069.674623 meters looking forward 0.000000 meters along route # Maximum depth: 1069.674623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.674623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.838814; captureRadius = 10; duration = 119; initialDepth = 1015.832051; finalDepth = 1019.674623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.674623 # Seafloor depth:-1069.674623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.832051 meters looking forward 0.000000 meters along route # Maximum depth: 1065.832051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.832051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.838147; captureRadius = 10; duration = 119; initialDepth = 1016.791181; finalDepth = 1015.832051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.832051 # Seafloor depth:-1065.832051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1066.791181 meters looking forward 0.000000 meters along route # Maximum depth: 1066.791181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.791181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.837481; captureRadius = 10; duration = 119; initialDepth = 1015.364889; finalDepth = 1016.791181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.791181 # Seafloor depth:-1066.791181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.364889 meters looking forward 0.000000 meters along route # Maximum depth: 1065.364889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.364889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761096; longitude = -121.836786; captureRadius = 10; duration = 119; initialDepth = 1017.476668; finalDepth = 1015.364889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.364889 # Seafloor depth:-1065.364889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.476668 meters looking forward 0.000000 meters along route # Maximum depth: 1067.476668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.476668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.836148; captureRadius = 10; duration = 119; initialDepth = 1014.661871; finalDepth = 1017.476668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.476668 # Seafloor depth:-1067.476668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.661871 meters looking forward 0.000000 meters along route # Maximum depth: 1064.661871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.661871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.835482; captureRadius = 10; duration = 119; initialDepth = 1014.796365; finalDepth = 1014.661871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.661871 # Seafloor depth:-1064.661871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.796365 meters looking forward 0.000000 meters along route # Maximum depth: 1064.796365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.796365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.834815; captureRadius = 10; duration = 119; initialDepth = 1017.043824; finalDepth = 1014.796365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.796365 # Seafloor depth:-1064.796365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.043824 meters looking forward 0.000000 meters along route # Maximum depth: 1067.043824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.043824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.834149; captureRadius = 10; duration = 119; initialDepth = 1017.110113; finalDepth = 1017.043824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.043824 # Seafloor depth:-1067.043824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.110113 meters looking forward 0.000000 meters along route # Maximum depth: 1067.110113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.110113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765224; longitude = -121.833469; captureRadius = 10; duration = 119; initialDepth = 1014.758168; finalDepth = 1017.110113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.110113 # Seafloor depth:-1067.110113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.758168 meters looking forward 0.000000 meters along route # Maximum depth: 1064.758168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.758168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.832816; captureRadius = 10; duration = 119; initialDepth = 1014.055834; finalDepth = 1014.758168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.758168 # Seafloor depth:-1064.758168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.055834 meters looking forward 0.000000 meters along route # Maximum depth: 1064.055834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.055834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.832150; captureRadius = 10; duration = 119; initialDepth = 1013.635126; finalDepth = 1014.055834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.055834 # Seafloor depth:-1064.055834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.635126 meters looking forward 0.000000 meters along route # Maximum depth: 1063.635126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.635126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.831483; captureRadius = 10; duration = 119; initialDepth = 1017.386716; finalDepth = 1013.635126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.635126 # Seafloor depth:-1063.635126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1067.386716 meters looking forward 0.000000 meters along route # Maximum depth: 1067.386716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.386716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.830817; captureRadius = 10; duration = 119; initialDepth = 1018.789524; finalDepth = 1017.386716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.386716 # Seafloor depth:-1067.386716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.789524 meters looking forward 0.000000 meters along route # Maximum depth: 1068.789524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.789524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.830150; captureRadius = 10; duration = 119; initialDepth = 1015.007591; finalDepth = 1018.789524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.789524 # Seafloor depth:-1068.789524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1065.007591 meters looking forward 0.000000 meters along route # Maximum depth: 1065.007591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.007591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.829484; captureRadius = 10; duration = 119; initialDepth = 1011.468349; finalDepth = 1015.007591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.007591 # Seafloor depth:-1065.007591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1061.468349 meters looking forward 0.000000 meters along route # Maximum depth: 1061.468349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.468349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771070; longitude = -121.828770; captureRadius = 10; duration = 119; initialDepth = 1013.082116; finalDepth = 1011.468349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.468349 # Seafloor depth:-1061.468349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.082116 meters looking forward 0.000000 meters along route # Maximum depth: 1063.082116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.082116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.828151; captureRadius = 10; duration = 119; initialDepth = 1014.234381; finalDepth = 1013.082116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.082116 # Seafloor depth:-1063.082116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.234381 meters looking forward 0.000000 meters along route # Maximum depth: 1064.234381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.234381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.827485; captureRadius = 10; duration = 119; initialDepth = 1013.876021; finalDepth = 1014.234381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.234381 # Seafloor depth:-1064.234381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.876021 meters looking forward 0.000000 meters along route # Maximum depth: 1063.876021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.876021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.826818; captureRadius = 10; duration = 119; initialDepth = 1011.863315; finalDepth = 1013.876021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.876021 # Seafloor depth:-1063.876021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1061.863315 meters looking forward 0.000000 meters along route # Maximum depth: 1061.863315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.863315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.826152; captureRadius = 10; duration = 119; initialDepth = 1022.161612; finalDepth = 1011.863315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.863315 # Seafloor depth:-1061.863315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1072.161612 meters looking forward 0.000000 meters along route # Maximum depth: 1072.161612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.161612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775198; longitude = -121.825453; captureRadius = 10; duration = 119; initialDepth = 1019.599422; finalDepth = 1022.161612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.161612 # Seafloor depth:-1072.161612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1069.599422 meters looking forward 0.000000 meters along route # Maximum depth: 1069.599422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.599422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.824819; captureRadius = 10; duration = 119; initialDepth = 1016.144348; finalDepth = 1019.599422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.599422 # Seafloor depth:-1069.599422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1066.144348 meters looking forward 0.000000 meters along route # Maximum depth: 1066.144348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.144348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.824153; captureRadius = 10; duration = 119; initialDepth = 1013.619901; finalDepth = 1016.144348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.144348 # Seafloor depth:-1066.144348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.619901 meters looking forward 0.000000 meters along route # Maximum depth: 1063.619901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.619901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.823486; captureRadius = 10; duration = 119; initialDepth = 1013.424418; finalDepth = 1013.619901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.619901 # Seafloor depth:-1063.619901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.424418 meters looking forward 0.000000 meters along route # Maximum depth: 1063.424418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.424418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.822820; captureRadius = 10; duration = 119; initialDepth = 1014.566973; finalDepth = 1013.424418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.424418 # Seafloor depth:-1063.424418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1064.566973 meters looking forward 0.000000 meters along route # Maximum depth: 1064.566973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.566973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779325; longitude = -121.822137; captureRadius = 10; duration = 119; initialDepth = 1018.033407; finalDepth = 1014.566973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.566973 # Seafloor depth:-1064.566973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1068.033407 meters looking forward 0.000000 meters along route # Maximum depth: 1068.033407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.033407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.821487; captureRadius = 10; duration = 119; initialDepth = 1020.867281; finalDepth = 1018.033407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.033407 # Seafloor depth:-1068.033407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1070.867281 meters looking forward 0.000000 meters along route # Maximum depth: 1070.867281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.867281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.820821; captureRadius = 10; duration = 119; initialDepth = 1020.165107; finalDepth = 1020.867281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.867281 # Seafloor depth:-1070.867281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1070.165107 meters looking forward 0.000000 meters along route # Maximum depth: 1070.165107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.165107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.820154; captureRadius = 10; duration = 119; initialDepth = 1028.457950; finalDepth = 1020.165107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.165107 # Seafloor depth:-1070.165107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1078.457950 meters looking forward 0.000000 meters along route # Maximum depth: 1078.457950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.457950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.819488; captureRadius = 10; duration = 119; initialDepth = 1026.648572; finalDepth = 1028.457950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.45795 # Seafloor depth:-1078.457950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1076.648572 meters looking forward 0.000000 meters along route # Maximum depth: 1076.648572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.648572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783452; longitude = -121.818820; captureRadius = 10; duration = 119; initialDepth = 1019.445550; finalDepth = 1026.648572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.648572 # Seafloor depth:-1076.648572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1069.445550 meters looking forward 0.000000 meters along route # Maximum depth: 1069.445550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.445550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.818155; captureRadius = 10; duration = 119; initialDepth = 1013.585467; finalDepth = 1019.445550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.44555 # Seafloor depth:-1069.445550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1063.585467 meters looking forward 0.000000 meters along route # Maximum depth: 1063.585467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.585467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785172; longitude = -121.817438; captureRadius = 10; duration = 119; initialDepth = 1009.811449; finalDepth = 1013.585467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.585467 # Seafloor depth:-1063.585467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1059.811449 meters looking forward 0.000000 meters along route # Maximum depth: 1059.811449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.811449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.816822; captureRadius = 10; duration = 119; initialDepth = 1009.473764; finalDepth = 1009.811449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.811449 # Seafloor depth:-1059.811449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1059.473764 meters looking forward 0.000000 meters along route # Maximum depth: 1059.473764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.473764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.816156; captureRadius = 10; duration = 119; initialDepth = 1010.252995; finalDepth = 1009.473764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.473764 # Seafloor depth:-1059.473764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1060.252995 meters looking forward 0.000000 meters along route # Maximum depth: 1060.252995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.252995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.815490; captureRadius = 10; duration = 119; initialDepth = 1008.576740; finalDepth = 1010.252995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.252995 # Seafloor depth:-1060.252995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1058.576740 meters looking forward 0.000000 meters along route # Maximum depth: 1058.576740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.576740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.814823; captureRadius = 10; duration = 119; initialDepth = 1010.452651; finalDepth = 1008.576740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.57674 # Seafloor depth:-1058.576740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1060.452651 meters looking forward 0.000000 meters along route # Maximum depth: 1060.452651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.452651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789299; longitude = -121.814121; captureRadius = 10; duration = 119; initialDepth = 1010.104926; finalDepth = 1010.452651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.452651 # Seafloor depth:-1060.452651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1060.104926 meters looking forward 0.000000 meters along route # Maximum depth: 1060.104926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.104926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.813490; captureRadius = 10; duration = 119; initialDepth = 1008.722329; finalDepth = 1010.104926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.104926 # Seafloor depth:-1060.104926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1058.722329 meters looking forward 0.000000 meters along route # Maximum depth: 1058.722329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.722329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.812824; captureRadius = 10; duration = 119; initialDepth = 1007.956558; finalDepth = 1008.722329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.722329 # Seafloor depth:-1058.722329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1057.956558 meters looking forward 0.000000 meters along route # Maximum depth: 1057.956558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.956558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.812158; captureRadius = 10; duration = 119; initialDepth = 1007.480564; finalDepth = 1007.956558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.956558 # Seafloor depth:-1057.956558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1057.480564 meters looking forward 0.000000 meters along route # Maximum depth: 1057.480564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.480564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.811491; captureRadius = 10; duration = 119; initialDepth = 1003.333899; finalDepth = 1007.480564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.480564 # Seafloor depth:-1057.480564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1053.333899 meters looking forward 0.000000 meters along route # Maximum depth: 1053.333899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.333899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793426; longitude = -121.810804; captureRadius = 10; duration = 119; initialDepth = 1002.758849; finalDepth = 1003.333899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.333899 # Seafloor depth:-1053.333899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1052.758849 meters looking forward 0.000000 meters along route # Maximum depth: 1052.758849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.758849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.810158; captureRadius = 10; duration = 119; initialDepth = 1001.603392; finalDepth = 1002.758849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.758849 # Seafloor depth:-1052.758849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.608441 meters # Minimum depth: 1051.603392 meters looking forward 0.000000 meters along route # Maximum depth: 1051.603392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1053.457950 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.603392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795146; longitude = -121.809422; captureRadius = 10; duration = 119; initialDepth = 1000.829315; finalDepth = 1001.603392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.603392 # Seafloor depth:-1051.603392 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:1000.829315 # Seafloor depth:-1050.829315 # 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 = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 119.608441 meters # Minimum depth: 1050.829315 meters looking forward 0.000000 meters along route # Maximum depth: 1050.829315 meters looking forward 0.000000 meters along route # Vehicle depth: 1000.829315 meters behavior waypoint { latitude = 35.796048; longitude = -121.808697; captureRadius = 10; duration = 250; depth = 1000.829315; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1000.829315 meters set by local depth and desired altitude behavior descend { duration = 3300; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 990.829315; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 119.608441 meters # Minimum depth: 1050.829315 meters looking forward 0.000000 meters along route # Maximum depth: 1050.829315 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.796048; longitude = -121.808697; captureRadius = 10; duration = 500; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 212.540067; 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 = 212.540067; 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################